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
1

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