Billy Lau Pik Lik

wall avoidance and multi turtlebot support

3

Hi Fazil, I was wondering is it possible to recreate multiple turtlebot3 to run the RRT exploration as shown in the original RRT exploration package? Also, I managed to get...

Issue in merging PointCloud2 data

1

I have the input of multiple pointcloud2 input obtained from the simulated VLP16 sensor in different robots and attempt to combine the point cloud topics from all the robots into...

map drifting

2

Hi, I am running RRT exploration on the merged map, which initially adjusted using tf transform to the world frame. Somehow when I start running exploration and expands the map,...

The calculation of the discount function and revenue calculation requires fixes. The outcome of these combinations renders an insignificant scale of the navigation cost.

Robot Assignment is Sub-optimal / non-optimal

2

Optimization of the task assignment for each robot requires improvement. The greedy nature of the tasks assignment often leads to less-ideal coverage for the exploration.

as the title suggested, there is some drifting and map shifting issues. Mostly changing the G-mapping to something better might solve this issue.