simple667 / mstc-star

code with ICRA'21 paper - (MSTC*: Multi-robot Coverage Path Planning under physical constraints)

MSTC-Star

code with ICRA'21 paper - MSTC*: Multi-robot Coverage Path Planning under Physical Constraints. [paper], [video].

Description

• Terrain filtering: implementations of terrain-slope based map filtering, terrain segmentation network, as well as map fusing and graph generating.

  pre-trained model of terrain segmentation network can be downloaded in [here]

• Multi-robot coverage path planning (mCPP): implementations of Naive-MSTC, Balanced-MSTC*, MFC, MSTC(w/ and w/o backtracking)*, see files in ./mcpp for details.

Requirments

• python 3.6 +
• matplotlib
• numpy
• scipy
• skimage
• pytorch (tested on 1.7.0)
• opencv-python (tested on v.4.4.0.46)
• rasterio (tested on v.1.1.8)
• networkx (tested on v.2.5)

Demos

• terrain filtering

• mCPP on artificial terrain

• mCPP on real terrain