Explore-Bench: Data Sets, Metrics and Evaluations for Frontier-based and Deep-reinforcement-learning-based Autonomous Exploration
Yuanfan Xu,Jincheng Yu,Jiahao Tang,Jiantao Qiu,Jian Wang,Yuan Shen,Yu Wang,Huazhong Yang,Yuanfan Xu,Jincheng Yu,Jiahao Tang,Jiantao Qiu,Jian Wang,Yuan Shen,Yu Wang,Huazhong Yang
Autonomous exploration and mapping of unknown terrains employing single or multiple robots is an essential task in mobile robotics and has therefore been widely investigated. Nevertheless, given the lack of unified data sets, metrics, and platforms to evaluate the exploration approaches, we develop an autonomous robot exploration benchmark en-titled Explore-Bench. The benchmark involves various ex...
