Surveillance of an area ?

asked 2018-01-17 09:24:08 -0500

StanSmooth gravatar image

Hello everyone, i'm currently working on a multirobot project, and my objective is that the robots can monitored a certain area efficiently. For now, thanks to this package , i can collect a map from my robots. My goal is now to have my area monitored efficiently by the robots. For that i need :

-To spread efficiently my n-robots in the area, and divide my map in n-local area (i was thinking to use some voronoi based algorithm)

-That each robot are exploring his local area efficiently

Do you know some ros package, or algorithm, or at least keyword which could help my in my development ?

Thanks a lot !

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Ok, after some researches, i found the package patrolling_sim, which seems to be a good start, but this is an old package, which is more a simulation comparing different algorithm than an actual robot package. I think that with some work, it could be possible to adapt this simulation on a real robot

StanSmooth gravatar imageStanSmooth ( 2018-01-24 03:59:36 -0500 )edit

but this is an old package

That package is supported on at least Indigo and Jade. The first is an LTS, so you should be fine.

gvdhoorn gravatar imagegvdhoorn ( 2018-01-24 04:03:28 -0500 )edit

Yes, you're right

StanSmooth gravatar imageStanSmooth ( 2018-01-24 04:21:57 -0500 )edit