This package was tested with:
Performances are slightly different between the two ROS versions. On Melodic, exploration is slightly faster for some reasons. Data on the paper are obtained using Kinetic.
Dependencies:
Set the robot model as variable in .bashrc export TURTLEBOT_BASE=kobuki
After you've built everything, to launch an exploration you have to do:
cd < path workspace >
catkin_make
source devel/setup.bash
roslaunch blueprint_exploration turtlebot_expl.launch
rosservice call /StartExploration
You can opt in/out the Gazebo GUI and RVIZ. There is one launchfile for each version of the world used.