Alex Goldhoorn

Publication — Experiment Maps

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Experiment Maps

Searching and Tracking People with Cooperative Mobile Robots
A. Goldhoorn, A. Garrell, R. Alquézar, A. Sanfeliu — Autonomous Robots, vol. 42, 2017

Discretized grid map used in simulations and real-world experiments. The map is shown as a grid image alongside its real-world satellite location. The map file is available for download below.

Environment

Telecos Square — UPC Campus

Telecos Square discretized grid map
Grid size
48 × 56 cells
Real size
38 m × 45 m
Cell size
0.8 m × 0.8 m
Accessible area
1,153 m²
Download
telecos_loop.txt

Map File Format

Each .txt file encodes the map as a comma-separated matrix:

  1. Number of columns
  2. Number of rows
  3. Matrix of rows × columns with values:
    • 0 — free cell
    • 1 — obstacle (robot cannot pass or see through)
    • 2 — base cell (free, used as start in hide-and-seek)

Example — 3 columns, 2 rows, obstacle at (0,0) and (0,1), base at (1,1):

3,2, 100 120

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