asscpp

Adaptive Search Space Coverage Path Planning

Installation

In your catkin_ws/src:

git clone --recurse-submodules https://github.com/psilberberg/asscpp.git

Dependencies

In addition to ros-noetic-desktop-full, please install: rviz_visual_tools, octomap, octomap_mapping, octomap_rviz_plugins, and CGAL

sudo apt-get install ros-noetic-rviz-visual-tools ros-noetic-octomap ros-noetic-octomap-mapping ros-noetic-octomap-rviz-plugins libcgal-dev

To run simulation, you'll also need Ardupilot

git clone https://github.com/ArduPilot/ardupilot.git

cd ardupilot

git submodule update --init --recursive

Also, add the path to the models to your bashrc file:

echo 'export GAZEBO_MODEL_PATH=$HOME/catkin_ws/src/asscpp/cscpp/models:$GAZEBO_MODEL_PATH' >> ~/.bashrc

Finally, you'll also need Mission Planner. Instructions on how to install MP on linux by IntelligentQuads

Running Simulation

Ensure your catkin workspace is sourced:

cd catkin_ws

source devel/setup.bash

Start the launch file:

roslaunch cscpp sim_world.launch

In a NEW terminal, start ArduPilot SITL:

cd catkin_ws/src/asscpp/cscpp/ && ./startsitl.sh

or

cd ~/ardupilot/ArduCopter/ && sim_vehicle.py -v ArduCopter -f gazebo-iris --console

In a NEW (third) terminal, start Mission Planner:

cd MissionPlanner

mono MissionPlanner.exe

Now use Mission Planner to drive the UAV around!

Citing

Please cite the following papers when using the work for your research:

ASSCPP

@INPROCEEDINGS{almadhoun2018asscpp,
  author={R. {Almadhoun} and T. {Taha} and D. {Gan} and J. {Dias} and Y. {Zweiri} and L. {Seneviratne}},
  booktitle={2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, 
  title={Coverage Path Planning with Adaptive Viewpoint Sampling to Construct 3D Models of Complex Structures for the Purpose of Inspection}, 
  year={2018},
  volume={},
  number={},
  pages={7047-7054}

SSCPP

@InProceedings{almadhoun2019sscpp,
  author="Almadhoun, Randa and Taha, Tarek and Dias, Jorge and Seneviratne, Lakmal and Zweiri, Yahya",
  title="Coverage Path Planning for Complex Structures Inspection Using Unmanned Aerial Vehicle (UAV)",
  booktitle="Intelligent Robotics and Applications",
  year="2019",
  publisher="Springer International Publishing",
  address="Cham",
  pages="243--266",
  isbn="978-3-030-27541-9"

Aircraft Inspection by Multirotor UAV Using Coverage Path Planning

@INPROCEEDINGS{9476718,
  author={Silberberg, Patrick and Leishman, Robert C.},
  booktitle={2021 International Conference on Unmanned Aircraft Systems (ICUAS)}, 
  title={Aircraft Inspection by Multirotor UAV Using Coverage Path Planning}, 
  year={2021},
  volume={},
  number={},
  pages={575-581},
  doi={10.1109/ICUAS51884.2021.9476718}}