/IPP-SaR

Informative path planning for search and rescue

Primary LanguageC++

IPP-SaR

Informative path planning for search and rescue using drones

More information about the algorithm is available in the following papers. Please cite it if you use it for scientific publication: Ajith Anil Meera, Marija Popović, Alex Millane and Roland Siegwart "Obstacle-aware adaptive informative path planning for uav-based target search." International Conference on Robotics and Automation (ICRA). IEEE, 2019.

@INPROCEEDINGS{8794345,
  author={Meera, Ajith Anil and Popović, Marija and Millane, Alexander and Siegwart, Roland},
  booktitle={2019 International Conference on Robotics and Automation (ICRA)}, 
  title={Obstacle-aware Adaptive Informative Path Planning for UAV-based Target Search}, 
  year={2019},
  volume={},
  number={},
  pages={718-724},
  doi={10.1109/ICRA.2019.8794345}}

The algorithm used in this paper can be found in tmplanner_continuous package. The algorithm for discrete IPP can be found in tmplanner_discrete package. You can also refer the masters thesis for exhaustive details about both continous and discrete IPP algorithm for drones: https://repository.tudelft.nl/islandora/object/uuid%3A34ce9384-9352-41bc-99ce-2a54bd1f3361