Online Informative Path Planning for Active Information Gathering of a 3D Surface

This repository contains the code for the paper:

Online Informative Path Planning for Active Information Gathering of a 3D Surface
Hai Zhu, Jen Jen Chung, Nicholas R.J. Lawrance, Roland Siegwart, Javier Alonso-Mora
published in ICRA 2021. You can find the full-text paper here.

If you find this code useful in your research then please cite:

@inproceedings{Zhu2021ICRA,
    author = {Zhu, Hai and Chung, Jen Jen and Lawrance, Nicholas R.J. and Siegwart, Roland and Alonso-Mora, Javier},
    booktitle = {2021 IEEE International Conference on Robotics and Automation (ICRA)},
    pages = {1488--1494},
    publisher = {IEEE},
    title = {{Online Informative Path Planning for Active Information Gathering of a 3D Surface}},
    year = {2021}
}

Installation instructions

The code has been tested in Ubuntu 18.04 with MATLAB R2019b.

Running simulations

• Open a MATLAB instance, and run setPath.m to add necessary paths.
• Informative planning: mGP_cmaes_full.m
• Simple coverage: mGP_coverage.m
• Random inspection: mGP_random.m
• Plot inspection results: plot_planning_inspection.m
• Animate inspection process: plot_results_animation.m