siyuanwu99 / acl-mapping-px4

Make mapping module of mit-acl-faster works on ROS noetic

Sliding Mapper

Blue is unknown space, and orange is occupied-known space:

UAV	Ground Robot

If you find the code of this mapper helpful, please consider citing these papers:

Efficient Trajectory Planning for High Speed Flight in Unknown Environments (ICRA 2019) (pdf, video)

@inproceedings{ryll2019efficient,
  title={Efficient Trajectory Planning for High Speed Flight in Unknown Environments},
  author={Ryll, Markus and Ware, John and Carter, John and Roy, Nick},
  booktitle={2019 International Conference on Robotics and Automation (ICRA)},
  pages={732--738},
  year={2019},
  organization={IEEE}
}

FASTER: Fast and Safe Trajectory Planner for Flights in Unknown Environments (IROS 2019) (conference paper, journal paper, video)

@inproceedings{tordesillas2019faster,
  title={{FASTER}: Fast and Safe Trajectory Planner for Flights in Unknown Environments},
  author={Tordesillas, Jesus and Lopez, Brett T and How, Jonathan P},
  booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2019},
  organization={IEEE}
}

Real-Time Planning with Multi-Fidelity Models for Agile Flights in Unknown Environments (ICRA 2019) (pdf, video)

@article{tordesillas2018real,
  title={Real-Time Planning with Multi-Fidelity Models for Agile Flights in Unknown Environments},
  author={Tordesillas, Jesus and Lopez, Brett T and Carter, John and Ware, John and How, Jonathan P},
  journal={arXiv preprint arXiv:1810.01035},
  year={2018}
}

Commands:

roslaunch global_mapper_ros global_mapper_node.launch

Credits:

This mapper was developed mainly by John Ware and John Carter (Robust Robotics Group, MIT), so all the credit goes to them.

Jesus Tordesillas (ACL-MIT) did some minor modifications afterwards (in the branch dev)