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readme updates #40

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12504c9
fixed Unity world picture
NamTruongTran Mar 1, 2024
0771242
add go1 robot
NamTruongTran Mar 2, 2024
fbe28d9
update planner section
NamTruongTran Mar 2, 2024
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41 changes: 36 additions & 5 deletions profile/README.md
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Expand Up @@ -94,7 +94,28 @@ We also offer worksheets which contain tasks and solutions and are a great start

## Supported Planners

- [ROSNavRL](packages/rosnavrl.md): Our own planner based on neural networks.
| Planner | Type | Robot | Description | Authors |
|-------------|-----------|---------|---------------|---------------|
| **Applr** | Hybrid | Jackal | A hybrid planner combining different approaches for adaptive planning. | [Xiao et al.](https://www.researchgate.net/publication/342184799_APPLD_Adaptive_Planner_Parameter_Learning_from_Demonstration) | 5 |
| **Cohan** | Classic | All | A traditional planner focusing on human-aware navigation strategies. | [Singamaneni et al.](https://scholar.google.com/citations?view_op=view_citation&hl=en&user=rWw5YTsAAAAJ&citation_for_view=rWw5YTsAAAAJ:9yKSN-GCB0IC) |
| **Dragon** | Hybrid | Jackal | A hybrid navigation system designed for dynamic environments. | [Xiao et al.](https://www.researchgate.net/publication/362858861_Autonomous_Ground_Navigation_in_Highly_Constrained_Spaces_Lessons_learned_from_The_BARN_Challenge_at_ICRA_2022) |
| **DWA** | Classic | All | Dynamic Window Approach, a reactive collision avoidance method considering the robot’s dynamics. | [Khatib et al.](https://www.researchgate.net/publication/3113619_Real-Time_Obstacle_Avoidance_for_Fast_Mobile_Robots) |
| **TEB** | Classic | All | Timed Elastic Bands, optimizing a global path by considering kinematic and dynamic constraints. | [Rösmann, et al.](https://rst.etit.tu-dortmund.de/storages/rst-etit/r/Global/Paper/Roesmann/2015_Roesmann_ECC.PDF) |
| **MPC** | Classic | All | Model Predictive Control, using a model of the robot’s dynamics to predict and optimize future trajectories. | [Rösmann et al.](https://www.researchgate.net/publication/320281520_Time-Optimal_Nonlinear_Model_Predictive_Control_with_Minimal_Control_Interventions) |
| **LFLH** | Hybrid | All | A hybrid planner leveraging both learned and heuristic components for effective navigation. | [Xiao et al.](https://arxiv.org/abs/2011.13112) |
| **RLCA** | Learning | All | Reinforcement Learning Collision Avoidance, using RL for dynamic obstacle avoidance. | [Long et al.](https://arxiv.org/abs/1709.10082) |
| **ROSNavRL** | Learning | All | A learning-based approach trained on Arena 2.0 with Reinforcement Learning. | Arena-Rosnav Team |
| **Trail** | Learning | All | A learning-based planner focusing on trail navigation in unstructured environments. | [Xiao et al.](https://www.researchgate.net/publication/362858861_Autonomous_Ground_Navigation_in_Highly_Constrained_Spaces_Lessons_learned_from_The_BARN_Challenge_at_ICRA_2022) |
| **Crowdnav** | Learning | All | Focuses on navigating safely and efficiently in crowded environments using machine learning techniques. | [Chen et al.](https://arxiv.org/abs/1809.08835) |
| **Sarl** | Learning | All | Socially Aware Reinforcement Learning, emphasizing social norms in navigation. | [Li et al.](https://www.researchgate.net/publication/338722340_SARL_Deep_Reinforcement_Learning_based_Human-Aware_Navigation_for_Mobile_Robot_in_Indoor_Environments) |
| **BRNE** | Game Theory | Quadruped | Utilizes game theory for decision-making in complex scenarios suitable for quadruped robots. | [Muchen Sun et al.](https://www.academia.edu/100123106/Move_Beyond_Trajectories_Distribution_Space_Coupling_for_Crowd_Navigation?uc-g-sw=108439277) |
| **iPlanner** | Learning | Quadruped | A learning-based planner for complex dynamic situations, suitable for quadruped robots. | [Yang et al.](https://arxiv.org/abs/2302.11434) |
| **ArtPlanner** | Learning | Quadruped | A learning-based planner optimized for articulated, quadruped robots. | [Hutter et al.](https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/507668/2021_iros_wellhausen_planner_final_version.pdf?sequence=1) |
| **Aggressive** | Heuristic | All | Employs aggressive strategies for rapid navigation, often in competitive or urgent scenarios. | Arena-Rosnav Team |
| **Polite** | Heuristic | All | Prioritizes polite and socially compliant behaviors in navigation. | Arena-Rosnav Team |
| **Sideways** | Heuristic | All | Specializes in sideways maneuvers, useful in narrow or constrained spaces. | Arena-Rosnav Team |

<!-- - [ROSNavRL](packages/rosnavrl.md): Our own planner based on neural networks.
- Dragon: from the [BARN challenge](https://github.com/Arena-Rosnav/dragon)
- Trail: from the [BARN challenge, TRAIL lab](https://github.com/TempleRAIL/nav-competition-icra2022-drl-vo)
- Applr: a hybrid approach by [Xuesu et al.](https://arxiv.org/abs/2105.07620)
Expand All @@ -105,16 +126,26 @@ We also offer worksheets which contain tasks and solutions and are a great start
- TEB: a classic approach by [Rösmann et al.](https://github.com/rst-tu-dortmund/teb_local_planner)
- DWA: the standard ROS local planning approach by [Marder-Eppstein et al.](http://wiki.ros.org/dwa_local_planner)
- MPC: a classic approach by [Rösmann et al.](https://github.com/rst-tu-dortmund/teb_local_planner)
- and many more (added with Arena 3.0)
- and many more (added with Arena 3.0) -->

## Supported Robots

| _turtlebot3-burger_ | _jackal_ | _ridgeback_ | _agv-ota_ | _tiago_ |
| _Quadruped-GO1_ | _Car-O-Bot4 (cob4)_ | _Tiago_ | _Jackal_ | _Robotino(rto)_ |
| :--------------------------------------------------------------: | :---------------------------------------------------: | :-------------------------------------------------------: | :----------------------------------------------------: | :--------------------------------------------------: |
| <img width="250" src="docs/images/robots/go1.png"> | <img width="250" src="docs/images/robots/cob4.jpg"> | <img width="250" src="docs/images/robots/tiago.jpg"> | <img width="250" src="docs/images/robots/jackal.jpg"> | <img width="250" src="docs/images/robots/rto.jpg"> |

| _Agv-Ota_ | _Youbot_ | _ridgeback_ | _Turtlebot3_Waffle_pi_ | _Turtlebot3-Burger_ |
| :------------------------------------------------: | :---------------------------------------------------: | :------------------------------------------------------------------: | :-------------------------------------------------: | :--------------------------------------------------: |
| <img width="250" src="docs/images/robots/agv-ota.png"> | <img width="250" src="docs/images/robots/youbot.jpg"> | <img width="250" src="docs/images/robots/ridgeback.jpg"> | <img width="250" src="docs/images/robots/turtlebot3_waffle_pi.jpg"> | <img width="250" src="docs/images/robots/dingo.jpg"> |


<!-- | _turtlebot3-burger_ | _jackal_ | _ridgeback_ | _agv-ota_ | _tiago_ |
| :--------------------------------------------------------------: | :---------------------------------------------------: | :-------------------------------------------------------: | :----------------------------------------------------: | :--------------------------------------------------: |
| <img width="250" src="docs/images/robots/turtlebot3-burger.jpg"> | <img width="250" src="docs/images/robots/jackal.jpg"> | <img width="250" src="docs/images/robots/ridgeback.jpg"> | <img width="250" src="docs/images/robots/agv-ota.png"> | <img width="250" src="docs/images/robots/tiago.jpg"> |

| _Robotino(rto)_ | _youbot_ | _turtlebot3_waffle_pi_ | _Car-O-Bot4 (cob4)_ | _dingo_ |
| :------------------------------------------------: | :---------------------------------------------------: | :------------------------------------------------------------------: | :-------------------------------------------------: | :--------------------------------------------------: |
| <img width="250" src="docs/images/robots/rto.jpg"> | <img width="250" src="docs/images/robots/youbot.jpg"> | <img width="250" src="docs/images/robots/turtlebot3_waffle_pi.jpg"> | <img width="250" src="docs/images/robots/cob4.jpg"> | <img width="250" src="docs/images/robots/dingo.jpg"> |
| <img width="250" src="docs/images/robots/rto.jpg"> | <img width="250" src="docs/images/robots/youbot.jpg"> | <img width="250" src="docs/images/robots/turtlebot3_waffle_pi.jpg"> | <img width="250" src="docs/images/robots/cob4.jpg"> | <img width="250" src="docs/images/robots/dingo.jpg"> | -->

## Supported Worlds

Expand All @@ -128,7 +159,7 @@ We also offer worksheets which contain tasks and solutions and are a great start

| Hospital | Restaurant | School | Japanese Garden | Warehouse |
| :--------------------------------------------------------------: | :---------------------------------------------------: | :-------------------------------------------------------: | :----------------------------------------------------: | :--------------------------------------------------: |
| <img width="250" src="docs/images/unity_worlds/hospital.png"> | <img width="250" src="docs/images/unity_worlds/restaurant.png"> | <img width="250" src="docs/images/unity_worlds/school.png"> | <img width="250" src="docs/images/unity_worlds/japanese_garden.png"> | <img width="250" src="docs/images/unity_worlds/warehouse.jpg"> |
| <img width="250" src="docs/images/unity_worlds/hospital.png"> | <img width="250" src="docs/images/unity_worlds/restaurant.jpg"> | <img width="250" src="docs/images/unity_worlds/school.png"> | <img width="250" src="docs/images/unity_worlds/japanese_garden.png"> | <img width="250" src="docs/images/unity_worlds/warehouse.jpg"> |

## Recent Publications
- [Arena-Web (RSS2023)](https://www.roboticsproceedings.org/rss19/p088.pdf): Web-based Development and Benchmarking Platform for Autonomous Navigation Approaches
Expand Down