├── .gitignore ├── README.md └── wandrian ├── CMakeLists.txt ├── include ├── common │ ├── global.hpp │ ├── point.hpp │ ├── polygon.hpp │ ├── rectangle.hpp │ ├── segment.hpp │ └── vector.hpp ├── environment │ ├── boustrophedon │ │ ├── extended_map.hpp │ │ ├── space.hpp │ │ └── vertices.hpp │ ├── cell.hpp │ ├── map.hpp │ ├── mstc │ │ ├── communicator.hpp │ │ ├── identifiable.hpp │ │ ├── identifiable_cell.hpp │ │ └── partially_occupiable_identifiable_cell.hpp │ ├── partially_occupiable.hpp │ └── partially_occupiable_cell.hpp ├── plans │ ├── base_plan.hpp │ ├── boustrophedon │ │ └── boustrophedon.hpp │ ├── boustrophedon_online │ │ ├── a_star.hpp │ │ └── boustrophedon_online.hpp │ ├── mstc │ │ ├── full_mstc_online.hpp │ │ └── mstc_online.hpp │ └── stc │ │ ├── full_scan_stc.hpp │ │ ├── full_spiral_stc.hpp │ │ └── spiral_stc.hpp ├── robot.hpp └── wandrian.hpp ├── launch ├── add_2_robots.launch ├── add_3_robots.launch ├── add_4_robots.launch ├── add_robots.launch ├── algorithm.launch ├── environment.launch ├── includes │ └── robot.launch ├── run_practically.launch └── run_simulator.launch ├── models ├── cinder_block │ ├── materials │ │ └── textures │ │ │ └── cinder_block_diffuse.png │ ├── meshes │ │ └── cinder_block.dae │ ├── model-1_4.sdf │ └── model.config ├── ground_plane │ ├── model-1_4.sdf │ └── model.config ├── hokuyo │ ├── meshes │ │ ├── hokuyo.dae │ │ └── hokuyo_convex.stl │ └── urdf │ │ ├── hokuyo.urdf.xacro │ │ └── hokuyo_gazebo.urdf.xacro ├── kobuki │ ├── meshes │ │ ├── images │ │ │ ├── main_body.jpg │ │ │ └── wheel.jpg │ │ ├── main_body.dae │ │ └── wheel.dae │ └── urdf │ │ ├── kobuki.urdf.xacro │ │ └── kobuki_gazebo.urdf.xacro ├── robot │ └── urdf │ │ ├── common_properties.urdf.xacro │ │ └── robot.urdf.xacro └── sun │ ├── model-1_4.sdf │ └── model.config ├── package.xml ├── setup.sh ├── src ├── CMakeLists.txt ├── common │ ├── point.cpp │ ├── polygon.cpp │ ├── rectangle.cpp │ ├── segment.cpp │ └── vector.cpp ├── environment │ ├── boustrophedon │ │ ├── extended_map.cpp │ │ ├── space.cpp │ │ └── vertices.cpp │ ├── cell.cpp │ ├── map.cpp │ ├── mstc │ │ ├── communicator.cpp │ │ ├── identifiable.cpp │ │ ├── identifiable_cell.cpp │ │ └── partially_occupiable_identifiable_cell.cpp │ ├── partially_occupiable.cpp │ └── partially_occupiable_cell.cpp ├── main.cpp ├── plans │ ├── base_plan.cpp │ ├── boustrophedon │ │ ├── README.md │ │ └── boustrophedon.cpp │ ├── boustrophedon_online │ │ └── boustrophedon_online.cpp │ ├── mstc │ │ ├── full_mstc_online.cpp │ │ └── mstc_online.cpp │ └── stc │ │ ├── README.md │ │ ├── full_scan_stc.cpp │ │ ├── full_spiral_stc.cpp │ │ └── spiral_stc.cpp ├── robot.cpp └── wandrian.cpp ├── test ├── boustrophedon_test.cpp ├── boustrophedon_test.sh ├── test.cpp └── test.sh └── worlds ├── empty.world ├── prefered_b.map ├── prefered_bo.map ├── prefered_fss.map ├── prefered_mstc_1.map ├── prefered_mstc_2.map ├── prefered_mstc_online_for_backtrack.world ├── prefered_mstc_online_for_one_die.world └── 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