Data Set ap_hill_07b

	Data set	Submitted by	File totals
	Name: ap_hill_07b Desc: Multi-robot exploration and mapping, Fort AP Hill	Andrew Howard ahoward@usc.edu 26 Apr 2004	4 files; 34 Mb

Detailed Description

Experiments conducted at Fort AP Hill as part of the DARPA/IPTO SDR project. Monitor log files Wed 28 Jan 2004 14-36 Autonomous, followed by some manual intervention in attempt to find final target. Four robots, one breach point. Speed 0.40 m/sec. robot_intel0 = {'entrance' : 'A', 'ipose' : (0, 0, 0), 'fpose' : (-3.66, 0, 3.142)} robot_intel1 = {'entrance' : 'A', 'ipose' : (-1.22, +0.61, 0), 'fpose' : (-3.66, 0, 3.142)} robot_intel2 = {'entrance' : 'A', 'ipose' : (-2.44, 0, 0), 'fpose' : (-3.66, 0, 3.142)} robot_intel3 = {'entrance' : 'A', 'ipose' : (-3.66, +0.61, 0), 'fpose' : (-3.66, 0, 3.142)}

File Format Description

Follows the Player file format. The files are gzip'ed text files. Each line records the measurements made by a particular sensor at a particular point in time. Fields within lines are space delimited, and have the following format:

Server time, robot name, port
Sensor type ("position" or "laser")
Sensor index (0 for this data set)
Data timestamp (time at which the phenomena occurred; Unix time).
Sensor data (specific for each sensor type):
- Position: pose_x pose_y pose_theta vel_x vel_y vel_theta
- Laser: range bearing intensity range bearing intensity...[repeats]
- Fiducial: id range bearing orient [repeats]

All units are SI (meters, radians, seconds, etc).

Notes:

The order of the lines in the file reflects the order in which data was recieved from the robot, as a result, the data timestamps may not be in chronological order.

Files

onboard-intel0-7000-28-01-04-14-30.log.gz

6Mb

onboard-intel1-7000-28-01-04-14-30.log.gz

10Mb

onboard-intel2-7000-28-01-04-14-30.log.gz

5Mb

onboard-intel3-7000-28-01-04-14-30.log.gz

10Mb