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GenMOS (Generalized Multi-Object Search)

To get started, check out this wiki page.

This repo is structured as follows:

• genmos_object_search: a robot-independent package for object search that implements the GenMOS system.
• ros: a ROS package that integrates genmos_object_search with ROS.
• ros2 a ROS 2 package that integrates genmos_object_search with ROS 2
• viam: a Viam client application that integrates genmos_object_search with Viam.

Check out the README in each directory for more information.

Design.org contains a system architecture diagram and a documentation of the different design aspects of GenMOS.

Demo video: https://www.youtube.com/watch?v=TfCe2ZVwypU

Paper Reference

A System for Generalized 3D Multi-Object Search. Kaiyu Zheng, Anirudha Paul, Stefanie Tellex. International Conference on Robotics and Automation (ICRA) 2023

@inproceedings{zheng2023asystem,
  title={A System for Generalized 3D Multi-Object Search,
  booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
  author={Zheng, Kaiyu and Paul, Anirudha and Tellex, Stefanie},
  year={2023}
}

Additionally, refer to Kaiyu's PhD Thesis Generalized Object Search (6.7MB) for (1) details on the additional deployment of GenMOS on the Universal Robotics UR5e arm using Viam as the middleware; (2) a literature survey and taxonomy on object search; (3) and more...