This repository includes materials for the arena-bench master thesis.
You can find a PDF version of the thesis here
To comprehend the benefit of realistic robot-modeling in dynamic real-live like scenarios, extensive benchmarking has been conducted.
- Click here to find the arena-rosnav-3D github repo at the time of data-collection
- Click here to find the arena-rosnav github repo at the time of data-collection
- Find in folder scenarios the scenarios written for the data collection
- Find in folder evals the eval scripts to recreate the data-collection run
- Find in folder data the csv-recording of the simulation runs
This folder contains a comprehensive list of evaluation results.
- Find in Folder 2D3D comparisons between the 2D Flatland simulator and the 3D Gazebo simulator
- Find in Folder emergency-break the evaluations regarding the emergency break systems with mobile robots in a 3D environment
- Find in Folder comparison-local-planner the results of comparing the behavior of the local planner with different robots according to the probability of collision-free navigation.
To recreate the figures from the project report and work with the dataset, the notebook figure_creation_script was included, which contains the required code.