Searching and Tracking People with Cooperative Mobile Robots
Alex Goldhoorn, Anaís Garrell, 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 |
|
|
Size | 48 x 56 cells |
Real size | 38 m x 45 m |
Cell size | 0.8 m x 0.8 m |
Accessible area | 1153 m2 |
File | telecos_loop.txt |
File specifications
The text file contains the map as a matrix, and its values are comma separated
- number of columns;
- number of rows;
- 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).
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).