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The library including A* planner and path postprocessing used by UAVs of team CTU-CRAS-NORLAB at DARPA SubT challenge since the Urban Circuit.
The core of the method is described in publication:
[1] V. Kratky, P. Petracek, T. Baca, and M. Saska, "An Autonomous Unmanned Aerial Vehicle System for Fast
Exploration of Large Complex Indoor Environments," Journal of Field Robotics, vol. 38, no. 8, pp. 1036–1058,
May 2021, https://doi.org/10.1002/rob.22021.
Further details and description of the deployment of the planner within the system designed for the exploration of subterranean environments are provided in publications:
[2] P. Petracek, V. Kratky, M. Petrlik, T. Baca, R. Kratochvil, and M. Saska, "Large-Scale Exploration
of Cave Environments by Unmanned Aerial Vehicles," in IEEE Robotics and Automation Letters, vol. 6, no. 4,
pp. 7596-7603, Oct. 2021, https://doi.org/10.1109/LRA.2021.3098304.
[3] M. Petrlik, P. Petracek, V. Kratky, T. Musil, Y. Stasinchuk, M. Vrba, T. Baca, D. Hert, M. Pecka,
T. Svoboda, and M. Saska, "UAVs Beneath the Surface: Cooperative Autonomy for Subterranean Search
and Rescue in DARPA SubT," preprint arXiv:2206.08185, 2022.
The library is integrated in the mrs_octomap_mapping_planning.