Official page of MLCPP (IROS'18 @ Barcelona, Spain): Offline Coverage Path Planner

MLCPP: Multi-layer coverage path planner for autonomous structural inspection of high-rise structures

  • The purpose of the algorithm is to inspect high-rise building with UAV or 3D reconstruction.
  • DOI: 10.1109/IROS.2018.8593537
  • If you use or refer this repository, please cite the paper below:

Jung, S., Song, S., Youn, P. and Myung, H., 2018, October. Multi-layer coverage path planner for autonomous structural inspection of high-rise structures. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 1-9). IEEE.



Left: Target and path. Right: full visualization


How to install

cd ~/<your_workspace>/src
git clone https://github.com/sungwook87/mlcpp
cd ..
catkin build

How to run

  • Edit some parameters in main.launch file
roslaunch mlcpp main.launch
rostopic pub /calculate_cpp std_msgs/Empty
  • Warning message Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty
    • Just ignore it. It will disappear after rostopic pub /calculate_cpp std_msgs/Empty
Owner
Sungwook Jung
Urban Robotics Lab. urobot.kaist.ac.kr
Sungwook Jung
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