Home
Welcome to the ethz-asl/tmplanner Wiki!
This repository contains a real-time capable motion planning framework for terrain monitoring applications. The framework aims to generate informative paths for a quadcopter-type UAV equipped with a downward-facing camera surveying a flat surface. It is suitable for mapping either discrete or continuous target variables.
The planning algorithm operates in a finite-horizon fashion, alternating between replanning and plan execution, while taking new sensor data into account. The replanning stage consists of two steps: (1) coarse 3D grid search in the UAV configuration space and (2) optimization of this trajectory for maximized information/exploratory gain using an evolutionary scheme. The generated paths obey smooth quadcopter dynamics.
Please use the sidebar on the right to navigate through the Wiki.
More information about our mapping and planning methods can be found in the following papers. Please cite them if you use our software in a scientific publication.
- For our discrete variable planner:
Marija Popović, Gregory Hitz, Juan Nieto, Inkyu Sa, Roland Siegwart, and Enric Galceran “Online Informative Path Planning for Active Classification Using UAVs”. In IEEE Int. Conf. on Robotics and Automation (ICRA), Singapore, May 2017.
@inproceedings{popovic2017icra,
author={Popović, Marija and Hitz, Gregory and Nieto, Juan and Sa, Inkyu and Siegwart, Roland and Galceran, Enric},
booktitle={Robotics and Autmation (ICRA), 2017 IEEE International Conference on},
title={Online Informative Path Planning for Active Classification Using UAVs},
year={2017},
address={Singapore},
month={May}
}
- For our continuous variable planner:
Marija Popović, Teresa Vidal-Calleja, Gregory Hitz, Inkyu Sa, Roland Siegwart, and Juan Nieto “Multiresolution Mapping and Informative Path Planning for UAV-based Terrain Monitoring”. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Vancouver, September 2017.
@inproceedings{popovic2017iros,
author={Popović, Marija and Vidal-Calleja, Teresa and Hitz, Gregory and Sa, Inkyu and Siegwart, Roland and Nieto, Juan},
booktitle={Intelligent Robots and Systems (IROS), 2017 IEEE International Conference on},
title={Multiresolution Mapping and Informative Path Planning for UAV-based Terrain Monitoring},
year={2017},
address={Vancouver},
month={September}
}
This work was funded by the European Community’s Horizon 2020 programme under grant agreement no 644227-Flourish and from the Swiss State Secretariat for Education, Research and Innovation (SERI) under contract number 15.0029.
http://flourish-project.eu
Feedback is more than welcome! You can contact the maintainer for any question or remark:
- Marija Popović, mpopovic@ethz.ch
Affiliation: Autonomous Systems Lab., ETH Zurich