Tasks

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)

All the supporting files can be downloaded in a single archive redcp-all.zip that contains 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