Data Set ut_austin_aces3
Desc: 3rd floor of ACES building on UT Austin campus.
07 May 2004
1 files; 35 Mb
3rd floor of ACES building on UT Austin campus.
The environment is basically a square with a cross that divides it into 4 smaller squares. The exploration first takes the outer loop, then divides the loop into 2 rectangles, then goes back to the middle and divides it again into the 4 squares.
Robot performs autonomous midline following, rotates around at intersections for our topological implementations.
The outer square is ~40 meters across.
Max laser reading is 50 meters (anything over 49.5 is maxed out).
Robot is an IRobot Magellan Pro.
Action model of our robot has been experimentally validated as a Gaussian with mean (0,0,0).
Sigmas are as follows:
For every 1 meter forward, sigma_forawrd=0.4
For every 1 meter forward, sigma_normal=0.2
For every radian turned, sigma_rotate=0.8
|File Format Description|
P (Parameters) should be straightforward|
L (Laser readings as line segments) timestamp 180 readings of (origin_x, origin_y, end_x, end_y)
O (odometry) timestamp x y theta
S (sonar -- same as laser but only 16 readings)