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BOARR : A Benchmark for quadrotor Obstacle Avoidance based on ROS and RotorS

Abstract : Multiple obstacle avoidance algorithms have been proposed over the past years but they were not tested using a common protocol. Some were tested statistically by repeating a task in specific simulated worlds. Others went through a number of real handmade obstacles. The last ones did lengthy real flights in environments that are tough to characterize. This paper proposes the BOARR benchmark that aims to give a common framework to test and compare obstacle avoidance algorithms for quadrotors. It offers multiple sensors and multiple indicators relevant to all quadrotor obstacle avoidance algorithms. It uses ROS, Gazebo and RotorS and can be easily deployed.
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Preprints, Working Papers, ...
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Contributor : Thibaut TEZENAS DU MONTCEL Connect in order to contact the contributor
Submitted on : Tuesday, May 28, 2019 - 4:56:21 PM
Last modification on : Wednesday, November 3, 2021 - 7:51:27 AM


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  • HAL Id : hal-02142571, version 1


Thibaut Tezenas Du Montcel, Amaury Nègre, Jose-Ernesto Gomez-Balderas, Nicolas Marchand. BOARR : A Benchmark for quadrotor Obstacle Avoidance based on ROS and RotorS. 2019. ⟨hal-02142571⟩



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