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README.md

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 # uav_frontier_exploration_3d
 
+# A Multi-Resolution Frontier-Based Planner for Autonomous 3D Exploration
+
+Proposed multi-resolution frontier-based planner is a real-time capable exploration planner.
+The planner consists of the algorithm for detecting frontier points, followed by clustering of frontier points and selecting the best
+frontier point to be explored. Performance is achieved by not relying on data obtained directly 
+from the 3D sensor, but on data obtained by a mapping algorithm. In order to cluster the frontier points,
+the properties of the Octree environment representation are used, which allows easy analysis with
+different resolutions. 
+
+This README gives a short overview. For more information refer to the [wiki](https://github.com/larics/uav_frontier_exploration_3d/wiki). 
+
+Video recordings of frontier-based exploration for both simulation and experimental scenarios can be found at [YouTube](https://www.youtube.com/playlist?list=PLC0C6uwoEQ8a88D6cKfa81Hfo_s_qVZxf).
+
+## Exploration planner installation and execution - quick guide
+
+In order to run the current version of 3D exploration planner, you should compile the package uav_frontier_exploration_3d. 
+First of all, navigate to the source folder of your ros workspace:
+
+```sh
+git clone https://github.com/larics/uav_frontier_exploration_3d.git
+catkin build uav_frontier_exploration_3d
+```
+
+Start a simulation after compilation:
+
+```sh
+roslaunch uav_frontier_exploration_3d frontier_server.launch
+```
+In order to start autonomous UAV exploration, call service:
+
+```sh
+rosservice call /red/exploration/toggle "data: true"
+```
+Tested under ROS Melodic.
+
+Further instructions for the installation, visualization of the exploration progress,
+as well as more demo scenarios and descriptions of the parameters can be found in the [wiki](https://github.com/larics/uav_frontier_exploration_3d/wiki).
+
+## Credits
+
+This algorithm was developed by [Ana Batinovic](mailto:[email protected]) 
+with the help and support of the members of the [LARICS](https://larics.fer.hr/).
+
+## Contact
+
+You can contact [Ana Batinovic](mailto:[email protected]) for any question or remark. 
+