Robot locomotion, sensing, and planning
Task ID | Assignment |
---|---|
t1a-ctrl | Open-loop locomotion control |
t1b-ctrl | Reactive obstacle avoidance |
t1c-plan | Grid-based path planning |
t1d-map | Map building |
t1e-frontiers | Determination of frontiers for robotic exploration |
t1f-exploration | Robotic information gathering - Mobile robot exploration |
t2-tspn | Data-collection Path Planning with Remote Sensing (TSPN) |
redcp
directory with scenes
for the simulator, supporting redcp
python library and individual tasks directories.
Provided supporting files for implementation of the tasks are in Python 3, and the simulation environment is CoppeliaSim, for which scenes including hexapod walking robot are provided as well. The following Python packages are recommended for a smooth run of the provided examples. The packages can be install directly in your OS, such as using apt install
or using pip
.
Package | Apt install | Used in tasks |
---|---|---|
matplotlib | apt install python3-matplotlib | All tasks |
numpy | apt install python3-numpy | All tasks |
sklearn | apt install python3-sklearn | t1c-plan, t1d-map, t1e-frontiers, t1f-exploration |
skimage | apt install python3-skimage | t1e-frontiers, t1f-exploration |