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{
"$schema": "https://mecha10.dev/schemas/behavior-composition-v1.json",
"name": "exploration",
"description": "Default autonomous exploration with frontier detection, area coverage, and mapping",
"root": {
"type": "sequence",
"name": "exploration_loop",
"children": [
{
"type": "node",
"node": "initialize_exploration",
"name": "exploration_init",
"config": {
"reset_map": false,
"set_initial_pose": true,
"exploration_boundary": {
"enabled": true,
"max_distance": 20.0,
"boundary_type": "circular"
}
}
},
{
"type": "selector",
"name": "explore_or_complete",
"children": [
{
"type": "sequence",
"name": "frontier_exploration",
"children": [
{
"type": "parallel",
"name": "map_and_detect",
"policy": "require_all",
"children": [
{
"type": "node",
"node": "update_occupancy_map",
"name": "mapper",
"config": {
"map_resolution": 0.05,
"map_update_rate_hz": 5.0,
"prob_hit": 0.7,
"prob_miss": 0.4,
"clamp_min": 0.1,
"clamp_max": 0.9
}
},
{
"type": "node",
"node": "detect_frontiers",
"name": "frontier_detector",
"config_ref": "frontier_detection"
}
]
},
{
"type": "node",
"node": "rank_frontiers",
"name": "frontier_ranker",
"config": {
"ranking_criteria": [
{
"name": "information_gain",
"weight": 0.5
},
{
"name": "distance",
"weight": 0.3,
"prefer": "closer"
},
{
"name": "accessibility",
"weight": 0.2
}
],
"min_frontier_size": 0.5,
"max_frontier_distance": 15.0
}
},
{
"type": "node",
"node": "select_best_frontier",
"name": "frontier_selector",
"config": {
"selection_method": "highest_rank",
"avoid_recent_failures": true,
"failure_memory_duration_sec": 60.0
}
},
{
"type": "parallel",
"name": "navigate_and_scan",
"policy": "require_one",
"children": [
{
"type": "selector",
"name": "reach_frontier",
"children": [
{
"type": "sequence",
"name": "navigate_to_frontier",
"children": [
{
"type": "node",
"node": "plan_path_to_frontier",
"name": "frontier_path_planner",
"config": {
"planner_type": "a_star",
"allow_unknown": true,
"frontier_approach_distance": 0.5,
"replan_on_failure": true
}
},
{
"type": "node",
"node": "follow_path",
"name": "path_executor",
"config_ref": "exploration_control"
},
{
"type": "node",
"node": "check_frontier_reached",
"name": "frontier_validator",
"config": {
"distance_threshold": 1.0,
"require_new_information": true
}
}
]
},
{
"type": "sequence",
"name": "handle_unreachable",
"children": [
{
"type": "node",
"node": "mark_frontier_unreachable",
"name": "frontier_marker",
"config": {
"blacklist_duration_sec": 120.0,
"propagate_to_similar": true
}
},
{
"type": "node",
"node": "select_alternative_frontier",
"name": "alternative_selector",
"config": {
"max_alternatives": 3,
"similarity_threshold": 0.8
}
}
]
}
]
},
{
"type": "node",
"node": "continuous_mapping",
"name": "continuous_mapper",
"config": {
"sensor_integration": ["lidar", "camera", "depth"],
"map_update_rate_hz": 10.0,
"publish_map": true
}
}
]
},
{
"type": "node",
"node": "scan_area",
"name": "area_scanner",
"config": {
"scan_pattern": "rotate_360",
"rotation_speed": 0.3,
"num_scan_points": 36,
"dwell_time_sec": 0.5
}
},
{
"type": "node",
"node": "update_coverage_map",
"name": "coverage_tracker",
"config": {
"grid_resolution": 0.2,
"coverage_radius": 2.0,
"decay_rate": 0.01
}
}
]
},
{
"type": "sequence",
"name": "exploration_complete",
"children": [
{
"type": "node",
"node": "check_exploration_complete",
"name": "completion_checker",
"config": {
"completion_criteria": {
"coverage_percentage": 95.0,
"no_frontiers_timeout_sec": 30.0,
"time_limit_sec": 3600.0
}
}
},
{
"type": "node",
"node": "save_exploration_map",
"name": "map_saver",
"config": {
"output_directory": "maps/",
"map_name": "exploration_map",
"save_pgm": true,
"save_yaml": true,
"include_metadata": true
}
},
{
"type": "node",
"node": "return_to_start",
"name": "return_navigator",
"config": {
"use_initial_pose": true,
"timeout_sec": 300.0
}
}
]
}
]
},
{
"type": "node",
"node": "publish_exploration_status",
"name": "status_publisher",
"config": {
"topic": "/exploration/status",
"publish_rate_hz": 1.0,
"include_map_metrics": true,
"include_coverage": true,
"include_frontiers_count": true
}
}
]
},
"configs": {
"frontier_detection": {
"detection_method": "wavefront",
"min_frontier_size": 0.4,
"frontier_threshold": 0.5,
"unknown_space_threshold": 0.3,
"clustering_enabled": true,
"cluster_distance": 0.3,
"filter_small_clusters": true
},
"exploration_control": {
"max_linear_speed": 0.6,
"max_angular_speed": 0.8,
"approach_speed_reduction": 0.5,
"position_tolerance": 0.3,
"angular_tolerance_deg": 20.0,
"obstacle_avoidance_enabled": true,
"min_obstacle_distance": 0.5
}
}
}