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Data Set ut_austin_aces3
| Data set | Submitted by | File totals |
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Name: ut_austin_aces3 Desc: 3rd floor of ACES building on UT Austin campus. |
Patrick Beeson
pbeeson@cs.utexas.edu 07 May 2004 |
1 files; 35 Mb |
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| Detailed Description | |||
|---|---|---|---|
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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 | |||
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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) | |||
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