Appendix for the Motion Primitives-based Path Planning for Fast and Agile Exploration Method
This work provides incremental improvements to an existing exploration path planning method for aerial robots, primarily benefiting researchers and practitioners in robotics.
This paper enhances a motion-primitives exploration path planning method for agile aerial robot exploration by integrating a global planning layer. This integration enables efficient exploration in large environments and ensures safe return-to-home capabilities.
This manuscript presents enhancements on our motion-primitives exploration path planning method for agile exploration using aerial robots. The method now further integrates a global planning layer to facilitate reliable large-scale exploration. The implemented bifurcation between local and global planning allows for efficient exploration combined with the ability to plan within very large environments, while also ensuring safe and timely return-to-home. A new set of simulation studies and experimental results are presented to demonstrate the new improvements and enhancements. The method is available open source as a Robot Operating System (ROS) package.