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License: MIT License
This project forked from arena-rosnav/arena-rosnav
License: MIT License
Planners that work:
Planners that don't work:
a) State of the art of navigation performance
Actually not necessary, but will lead to more readable data.
Integrate the data recorder and pipeline into the new arena
evaluate the robot performance on complicated maps (maps which have low robot performances)
Extract input parameters that had an significant influence on the output parameters
Create a table and analyze every data metric. What could go wrong, how it could interfere. What would collide a lot in all phases. Meeting Sat 10.12. at 12:00
Check the tradeoff of complexity vs variability in the dataset
Check which map settings create impossible maps and decide how the setting has to be for a realistic map to exist
Create the base architecture for a NN for navigation prediction from which other NN can be derived of.
Analyze which input variables are inportant from NN view
Make result good for paper
Check how to create complicated maps on which will result in low robot performance metrics
Success_rate, Collision_rate and Timeout_rate are not adding up to 1. Check out why and fix it
Check how DNN with only one output parameter can be combined into one big DNN.
Make sure that output parameters add up to 1
Create different datasets (different planners, different robots, Ni Lous maps)
Meet with Bassili, decide on how data should look like, analyze old data to see which input features are relevant
Fix Bug
Evaluate realistic map settings
Evaluate necessary dataset compositions (How many runs per map setting)
Set up plan for data recording
Create different datasets (different planners, Ni Lous maps,...)
Test different robots and planners
Check the tradeoff of complexity vs variability in the dataset
Check interesting papers for NN architecture
a) Current datasets for navigation performance
b) Additional recording metrics
c) Data distribution in dataset
This occurs sometimes when running the pipeline. It can happen with the MainRecorder and also with the RobotRecorder. When it does, the node crashes so the corresponding data is not recorded.
Reason:
Possible Approaches:
The World complexity calculation sometimes returns Null values for distance(normalized), distance.avg, distance.variance. Check what causes this and solve the problem.
a) How many people
b) How to increase the speed (Rike)
c) Data recording on cloud
Only DWA and Burger
Create one DNN with one planner and one robot which outputs all performance metrics
Analyze related work section of project paper
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