MoveIt is a motion planning framework that can be adapted for a wide range of fixed-base robots. The sole idea behind this project was to introduce MoveIt GUI capability for Hector Quadrotor, a well-known open source Gazebo quadrotor stack. After inspecting the existing work, the references are given in the code repository, I have managed to replicate this GUI capability. Using MoveIt for mobile robots is not the orthodox method; thus, this feature on its own is quite innovative. Subsequently I have decided to integrate this stack to MoveIt so as to be able to exploit API fully.

     Integration with MoveIt for using API was non-trivial, but realized eventually. Next step was to come up with a use-case that would prove the usefulness of the method developed. Due to that, I have crafted a very amateur orchard (Gazebo is not high fidelity when organic modelling is at stake) of which the robot should explore, with as much as efficiency possible. The exploration package is implemented with MoveIt (how) in the low-level and with different exploration metrics that determine the motion primitives (where) in the high-level. (See the repository for all the details)

     All in all, this project is in a frozen state and can be either transformed into a research project or to an agricultural robotics product. Relevant links: