obstacle_estimator

Obstacle state estimation and prediction using ROS

Installation

$ cd [ROS_workspace]/src
$ git clone https://github.com/hai-zhu/obstacle_estimator.git
$ cd ..
$ catkin_make

Obstacle state estimation only

$ roslaunch obstacle_estimator obstacle_estimator_multiple.launch

Obstacle state estimation and prediction

$ roslaunch obstacle_estimator obstacle_prediction_multiple.launch

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

@article{Zhu2019RAL,
    title = {{Chance-Constrained Collision Avoidance for MAVs in Dynamic Environments}},
    author = {Zhu, Hai and Alonso-Mora, Javier},
    journal = {IEEE Robotics and Automation Letters},
    number = {2},
    volume = {4},
    pages = {776--783},
    publisher = {IEEE},
    year = {2019}
}