Kobu

Multibot extraterrestrial exploration using Peano's curve

Literature

Read the paper here

Watch it in Action

https://www.youtube.com/watch?v=NxmvM7g0AX4

Prerequisites

• ROS (Tested on Melodic Morenia)
• Linux (Tested on Ubuntu 18.04)

Installation

Linux:

cd /your_workspace/src/
git clone https://github.com/raghavthakar/kobu.git
cd ..
catkin_make

Usage example

Before running the following, make sure to source the workspace To run a single exploring robot:

roslaunch kobu_description gazebo.launch

This should spawn the robot, and then run:

rosrun kobu_control move_distance_server

To run the multi-robot system:

roslaunch kobu_description kobu_multibot.launch

To visualise the curve, Navigate to src/kobu_peano/peano or src/kobu_peano/hilbert and run python3 peano.py or python3 hilbert.py.

Contributing

1. Fork it (https://github.com/yourname/yourproject/fork)
2. Create your feature branch (git checkout -b feature/fooBar)
3. Commit your changes (git commit -am 'Add some fooBar')
4. Push to the branch (git push origin feature/fooBar)
5. Create a new Pull Request