[OR-M1] Collaborative environment mapping probes [Multiple Options]
Imagine a virtual environment with a pre-defined boundary and some internal objects that need to be mapped by some virtual agents as efficiently as possible.
Your objective is to produce a global map of this environment based on information collected by the probes which are initially placed randomly in the environment and have the ability to move about and detect objects and the boundary in front of them.
You need to assume that the probes have limited ability to move (they may run out of power, for instance), so you need to map the environment as efficiently as possible. In order to compare different mapping strategies, you need to devise your own metrics to evaluate how good each mapping is.
Part of your project is to research and choose an appropriate simulation environment such as GridWorld providing basic functionality and some visualisation of the exploration.
The core of your project will be on the design of efficient mapping strategies but you must suggest, design and implement some basic communication and coordination aspects between the probes. For example, you may want to share the areas of the environment currently mapped, so as to avoid one of the probes going over an area that has already been mapped. You will also need to produce a single map of the environment combining the individual bits mapped by each probe separately.
Possible Applications
• Autonomous vehicles attending disaster zones
• Space probes mapping external planets
• Vacuum cleaners and autonomous vehicles
Deliverables
• A visualisation of the environment as it is being explored by the probes
• A mapping strategy detailing how each probe explores the environment
• Metrics to evaluate the efficiency of the mapping
• Communication and coordination protocols between the probes, with adaptive strategies to make the mapping as efficient as possible
【OR-M1】协作环境映射探针【多重选择】
想象一个虚拟环境，它有预定义的边界和一些内部对象，这些对象需要由一些虚拟代理尽可能有效地映射。
你的目标是根据探测器收集到的信息绘制出这个环境的全球地图，这些探测器最初随机放置在环境中，能够移动并探测到物体及其前方的边界。
您需要假设探测的移动能力有限(例如，它们可能会耗尽能量)，因此需要尽可能高效地映射环境。
为了比较不同的映射策略，您需要设计自己的度量来评估每个映射的好坏。
您的项目的一部分是研究和选择一个适当的模拟环境，如GridWorld，提供基本功能和一些可视化的探索。
您的项目的核心将是设计高效的映射策略，但是您必须建议、设计和实现探测器之间的一些基本通信和协调方面。
例如，您可能希望共享当前映射的环境区域，以避免其中一个探测通过已经映射的区域。
您还需要生成环境的单个映射，将每个探针分别映射的各个位组合在一起。
可能的应用
•前往灾区的自动驾驶汽车
•绘制外部行星地图的太空探测器
•吸尘器和自动驾驶汽车
可交付成果
•一个可视化的环境，因为它正在探索的探头
•详细描述每个探测器如何探测环境的映射策略
•评估映射效率的度量标准
•探测器之间的通信和协调协议，以及使映射尽可能高效的自适应策略
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前面是官方要求，我这里说一下我自己的理解哈
就是现确定一个模拟环境，像gridworld这种（但是这个好像是用JAVA），当然只要是能可视化就行，用什么语言无所谓：
然后大致就是先用一个探针来探测这个地图，以最高的效率探测出障碍物，尽量少的重复路径，就代表效率高。
最好是可以用多个探针来一起探测环境，然后与到不同的障碍物探针之间会相互交流，避免重复探测。