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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.gz6Mb
onboard-intel1-7000-28-01-04-14-30.log.gz10Mb
onboard-intel2-7000-28-01-04-14-30.log.gz5Mb
onboard-intel3-7000-28-01-04-14-30.log.gz10Mb