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A ROS coordinator and simulation for multi-robot soil properties mapping

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ROS Multi-Robot Soil Mapping Sim

A ROS coordinator and simulation for multi-robot soil properties mapping.

This centralised coordinator directs a team of robots in mapping geospatial data using Ordinary Kriging (OK) interpolation. The kriging variance, a metric of the uncertainty of the interpolation's predictions, is used to decide where robots should sample, and informs allocation of these sampling tasks to the robots.

A simulation for demonstration and testing of this soil mapping multi-robot system, using the move_base_abstract simulator, is included alongside the coordinator in this repository. The simulation re-samples soil compaction data recorded at the University of Lincoln's Riseholme agricultural campus published in the dataset of Fentanes et al.

Setup

With your working directory as the src directory of a catkin workspace, clone the repo using:

git clone https://github.com/laurencejbelliott/ROS_multi-robot_soil_mapping_sim.git --recursive

Then navigate to the root directory of the workspace and install the package's dependencies with:

rosdep install --from-paths src --ignore-src -r -y

Finally, build the package with catkin build.

Run Demo Soil Compaction Sampling Mission

To run an example sampling mission use the command:

rosrun sim_soil_mapping_mrs run_single_trial.py

Run ICRA '25 Soil Compaction Sampling Trials

To replicate the soil compaction mapping trials run for the ICRA '25 submission use the command:

rosrun sim_soil_mapping_mrs run_bid_func_trials.py

Please note this will take a long time to complete, and the data produced from these trials will require a significant amount of free storage space.

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