├── .vscode ├── c_cpp_properties.json └── settings.json ├── CMakeLists.txt ├── LICENSE ├── README.md ├── asr_planner_config ├── costmap_common_params.yaml ├── ftc_local_planner_params.yaml ├── global_costmap_params.yaml └── local_costmap_params.yaml ├── include ├── ACO_STC.h ├── ConnectComponent.h ├── DARP.h ├── DARPPlanner.h ├── Dinic.h ├── HeuristicPartition.h ├── MaximumSubRectDivision.h ├── PathCut.h ├── STC.h ├── UnionFind.h └── m_TSP.h ├── kobuki_description ├── .cproject ├── .project ├── CHANGELOG.rst ├── CMakeLists.txt ├── launch │ └── view_model.launch ├── meshes │ ├── images │ │ ├── main_body.jpg │ │ └── wheel.jpg │ ├── main_body.dae │ └── wheel.dae ├── package.xml ├── rviz │ └── model.rviz └── urdf │ ├── common_properties.urdf.xacro │ ├── kobuki.urdf.xacro │ ├── kobuki_gazebo.urdf.xacro │ └── kobuki_standalone.urdf.xacro ├── launch ├── .vscode │ ├── c_cpp_properties.json │ └── settings.json ├── amcl_robot1.launch ├── asr_move_base │ └── move_base_1.launch ├── explore_costmap.launch ├── gmapping.launch ├── main.launch ├── main_amcl.launch ├── move_base │ ├── move_base_1.launch │ ├── move_base_10.launch │ ├── move_base_11.launch │ ├── move_base_12.launch │ ├── move_base_13.launch │ ├── move_base_14.launch │ ├── move_base_15.launch │ ├── move_base_16.launch │ ├── move_base_2.launch │ ├── move_base_3.launch │ ├── move_base_4.launch │ ├── move_base_5.launch │ ├── move_base_6.launch │ ├── move_base_7.launch │ ├── move_base_8.launch │ └── move_base_9.launch ├── one_robot.launch └── test.launch ├── map ├── DAO │ └── brc202d.png ├── Real_world │ ├── Denver_0_1024.png │ ├── Denver_1_1024.png │ ├── Denver_2_1024.png │ ├── NewYork_0_1024.png │ └── Shanghai_0_1024.png ├── bar_13.png ├── construct_13.png ├── fake_random.png ├── goodToGo.txt ├── indoor_real.pgm ├── indoor_real.png ├── map.yaml ├── random20_change.pgm ├── random20_change.png ├── random20_change_big.pgm ├── random_10_10.png ├── random_13_15.png ├── random_13_20.png ├── random_20_10.pgm ├── random_20_10.png ├── results │ ├── Denver_2.png │ ├── Indoor_real.png │ ├── NewYork_0.png │ └── random_20_10_new.png ├── school.png └── theta_13.png ├── package.xml ├── param ├── base_global_planner_param.yaml ├── base_local_planner_params.yaml ├── costmap_common_params.yaml ├── dwa_local_planner_params.yaml ├── global_costmap_params.yaml ├── local_costmap_params.yaml ├── move_base_params.yaml └── teb_local_planner_params.yaml ├── rviz ├── navigate.rviz └── test_oneRobot.rviz ├── src ├── ACO │ └── ACO_STC.cpp ├── Dinic │ └── Dinic.cpp ├── Division │ ├── MaximumSubRectDivision.cpp │ └── PathCut.cpp ├── Heuristic │ └── HeuristicPartition.cpp ├── MapToMatrix.cpp ├── PublishGroundTruth.cpp ├── m_TSP │ └── m_TSP.cpp └── main.cpp ├── turtlebot3_description ├── meshes │ ├── bases │ │ └── burger_base.stl │ ├── sensors │ │ ├── astra.dae │ │ ├── astra.jpg │ │ ├── lds.stl │ │ ├── r200.dae │ │ └── r200.jpg │ └── wheels │ │ ├── left_tire.stl │ │ └── right_tire.stl ├── rviz │ └── model.rviz ├── urdf 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