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This package provides a planner that generates both goals and associated paths for the exploration of unknown environments. The package does not provide a ROS node, but a library that can be used inside a ROS node. A simple usage example is implemented in the hector_exploration_node package.

Video of use of the exploration planner in a real-world RoboCup Rescue scenario:

Video of use of the exploration planner in a simulated RoboCup Rescue scenario:


An overview can also be obtained from the following paper (available here):

  author = {S. Kohlbrecher and J. Meyer and T. Graber and K. Petersen and O. von Stryk and U. Klingauf},
  title = {Hector open source modules for autonomous mapping and navigation with rescue robots},
  year = {2013},
  pages = {to appear},
  publisher = {Springer},
  series = {Lecture Notes in Artificial Intelligence (LNAI)},
  booktitle = {Proc. RoboCup Symposium 2013},

The exploration approach used is based on the following paper (available here):

  title={Exploration transform: A stable exploring algorithm for robots in rescue environments},
  author={Wirth, S. and Pellenz, J.},
  booktitle={Safety, Security and Rescue Robotics, 2007. SSRR 2007. IEEE International Workshop on},

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