Software

Self-Organizing Map based solver for the Prize-Collecting Traveling Salesman Problem with Neighborhoods (PC-TSPN)

A public release of library for solving PC-TSPN for academic purposes is available in the archive som_pctspn_v1.0.tar.xz. It contains a complete configurable program with visualization. It depends on the following libraries: log4cxx, boost, and cairo. If you use the solver for your research, please, cite the paper.

A public release of the simplified the library without dependencies for solving the PC-TSPN for academic purposes is planned to be published at the end of 2015 (also accompanied with the data set used in our papers). If you have any question regarding the solver do not hesitate to contact me at faiglj@fel.cvut.cz

A visualization of the unsupervised learning during solving an instance of the PC-TSPN can be see in the video file.
Further details about the solver can be found in the following paper.

  • [DOI] J. Faigl and G. A. Hollinger, “Unifying multi-goal path planning for autonomous data collection,” in IEEE/RSJ international conference on intelligent robots and systems, 2014, pp. 2937-2942.
    [Bibtex]
    @inproceedings{faigl14iros,
    author = {Jan Faigl and Geoffrey A. Hollinger},
    title = {Unifying multi-goal path planning for autonomous data collection},
    booktitle = {{IEEE/RSJ} International Conference on Intelligent Robots and Systems},
    pages = {2937--2942},
    year = {2014},
    doi = {10.1109/IROS.2014.6942967},
    }

Frontier-Based Multi-Robot Exploration

A public release of software library for evaluation of the multi-robot exploration strategies in frontier-based grid map exploration is available for academic purposes as an archive mre-ver0.9.tar.xz or at the git repository.
If you have any question regarding the framework do not hesitate to contact me at faiglj@fel.cvut.cz

  • J. Faigl and M. Kulich, “On benchmarking of frontier-based multi-robot exploration strategies,” in Proceedings of 7th European Conference on Mobile Robots, Lincoln, 2015.
    [Bibtex]
    @inproceedings{faigl15ecmr,
    author={Faigl, J. and Kulich, M.},
    title={On Benchmarking of Frontier-Based Multi-Robot Exploration Strategies},
    booktitle = {{Proceedings of 7th European Conference on Mobile Robots}},
    year={2015},
    address={Lincoln},
    notes={(to appear)}
    }