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Cooperative Multi-Robot Exploration

* Frontier-based exploration algorithm

* New spiral sweep for costmap generation

* Utility of frontiers based on the distance between other robots and frontiers cells

CoopExp must be launched multiple times in order to have a node per robot just. Once launched, the nodes will generate the objectives of the exploration these will take into account the position of other robots and the areas already explored by them, making the exploration of the environment as efficient as possible.

*This package needs to have access to /odom, /frontiers and /odom_beacom in order to work.


Source Code

Link to GitHub coopexp-repo

To get started go to ARENA wiki-ros page too see a complete launch example arena-wiki.

2020-09-19 12:38