Changelog

Changelog#

All notable changes to this project are documented in this file. The format follows Keep a Changelog, and versions follow Semantic Versioning: a breaking change to the C++ API or to the configuration format bumps the major version.

1.0.0 - 2026-11-01#

The initial public release: the code release of An Efficient Beam Search Algorithm for Active Perception in Mobile Robotics (Qu et al., IJRR 2026).

Added#

  • Graph planners NBS, DBS, SPT and TSP on a random annulus graph, and the RRT and RRT* tree baselines.

  • Gain evaluators for volumetric exploration, surface reconstruction and point collection.

  • A plugin for every role, selected by type: in YAML.

  • open_apero_node, a ROS Noetic planner node for any robot, on a Voxblox map.

  • A Habitat-sim setup for the paper’s HSSD experiments, and an offline graph benchmark that reproduces the paper’s results.

  • A Docker image for x86_64 hosts other than Ubuntu 20.04.