What is this repository for?
This repository is for finding optimal velocities to traverse while inspecting planar regions given the camera parameters and robot execution uncertainty.
How do I get set up?
Clone the repo into workspace,
To find no of runs and velocities in each run:
load high_res_0_5_dist_1_5; [n,t,v]=find_no_of_runs(result, [l_x,l_y])
To find the overall probability of success for a given robot execution uncertainty (sigma) and camera field of view (f), for a plane of l_x and l_y dimensions
run Test4d.m (it will take more time to compute)
you can change those variables in that file..
It uses expectation4d_new function which is vectorized version of expectation4d which takes array of points on the wall and outputs the expectation of those points being covered.
to generate waypoints and publish to ros, run publish_path.m by loading desired results
to generate second run based on path followed in the first run, run publish_second_path.m by either subscribing to ros message of path followed in the first run or by loading results results/PoseArray_1_5.mat
Several expectation distributions are saved in workspaces named high_res_(sigma)dist(distance from wall).mat
- Ortools for Python
To Download Ortools, download tar.gz or zip file for Python and follow the instructions given here: https://developers.google.com/optimization/installing
Who do I talk to?
- srikanth malla (email@example.com)
- Swetha Mandava (firstname.lastname@example.org)
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