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Multirobot_map_merge finish map

asked 2020-04-04 04:40:12 -0500

MarosROS
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Hi, i am working on the robot application using SLAM and I wonder if it is possible with multirobot_map_merge package to somehow programmatically find out the moment when the map is fully explored, because when i use exploration package like explore_lite, robots do not know about each other explored area, so they are searching for areas, that have been already explored.

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answered 2023-02-16 10:36:00 -0500

hunterlineage1
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I think you could use some kind of area proportion. If you know the area of the total map which you load into your world, and find the fraction of total_area_discovered / total_map_area, the closer this becomes 1, you could terminate explore_lite. You could also look into finding the rate of change of this fraction to terminate it.

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Asked: 2020-04-04 04:40:12 -0500

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Last updated: Feb 16 '23

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