Pragmatic Experiments with Mobile Robots with Search-and-Track Methods using State-of-the-Art Techniques

Alex Goldhoorn, Anaís Garrell, Fernando Herrero, René Alquézar and Alberto Sanfeliu

Autonomous Robots



Maps

 The discritized maps used in the simulations and real experiments can be downloaded here, the description below.
UPC - Telecos Square
Size48 x 56 cells
Real size38 m x 45 m
Cell size0.8 m x 0.8 m
Accessible area1153 m2
Filetelecos_loop.txt


File specifications

 The text file contains the map as a matrix, and its values are comma separated
  1. number of columns;
  2. number of rows;
  3. matrix of rows x columns with three possible values:
    • 0: a free cell;
    • 1: an obstacle (not accessible by the robot, nor can the robot see through it);
    • 2: the base (a free cell, but used as base in the hide-and-seek game).

    4. An example is:
    3,2,
    100
    120

    This examples has 3 rows and 2 colums, an obstacle at (0,0), and (0,1), and the base at (1,1).