Area Coverage task dataset for multi-robot task allocation 👋

Citing

If you are in any way using the dataset, please cite this paper: @inproceedings{grontved2022icar, title={Decentralized Multi-UAV Trajectory Task Allocation in Search and Rescue Applications}, author={Gr{\o}ntved, Kasper Andreas R{\o}mer and Schultz, Ulrik Pagh and Christensen, Anders Lyhne}, booktitle={21st International Conference on Advanced Robotics}, year={2023}, organization={IEEE} }

Coverage task dataset

This repository contains the collection of dataset for the area coverage problem. Each problem is contained within a single json file to easily import it into your favorite programming language.

The problems contains a bounding polygon representing the coverage area, a set of holes represented as a list of coordinates, and all problems contains predefined coverage tasks generated using existing routes from https://github.com/UNCCharlotte-CS-Robotics/AreaCoverage-dataset. The coverage tasks are generated based on the polygons and a sweep-width of 3 meters, using the method from https://github.com/UNCCharlotte-CS-Robotics/AreaCoverage-library.

The datasets

The datasets are generated from existing problems datasets provided by: * VM25 - I. Vandermeulen, R. Groß, and A. Kolling, “Turn-minimizing multirobot coverage,” IEEE International Conference on Robotics and Automation (ICRA), 2019, pp. 1014–1020. * AC300 - https://github.com/ethz-asl/polygoncoverageplanning * H2 - W. H. Huang, “Optimal line-sweep-based decompositions for coverage algorithms,” IEEE International Conference on Robotics and Automation (ICRA), 2001

The format

The format of the datasets provided in this repository is following the RFC-7946 standard called GeoJSON. GeoJson is a videly used geospatial data interchange format based on the json format. It defines several types of JSON objects and the manner in which they are combined to represent data about geographic features, their properties, and their spatial extents.

All the coverage problems are defined as a FeatureCollection and contains Features such as a boundary (Polygon), a list of coverage tasks (MultiLineString), and can contain obstacles defines as a set of polygons (MultiPolygon).

Using the Datasets

Using python to load a json file with the geojson format can be done as follows: python import geojson with open(path_to_file) as f: gj = geojson.load(f) features = gj['features']

Author

👤 Kasper Andreas Rømer Grøntved

• Website: https://blog.grontved.dk
• GitHub: @kasperg3

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📝 License

Copyright © 2023 Kasper Andreas Rømer Grøntved.
This project is MIT licensed.