GitHub topics: reactive-planner
cguz/planning-reactive-planner
Reactive plan execution in multi-agent environments
Language: Java - Size: 70.2 MB - Last synced at: 2 months ago - Pushed at: about 4 years ago - Stars: 3 - Forks: 1
UMich-BipedLab/CLF_reactive_planning_system
This package provides a CLF-based reactive planning system, described in paper: Efficient Anytime CLF Reactive Planning System for a Bipedal Robot on Undulating Terrain. The reactive planning system consists of a 5-Hz planning thread to guide a robot to a distant goal and a 300-Hz Control-Lyapunov-Function-based (CLF-based) reactive thread to cope with robot deviations. The planning system allowed Cassie Blue to autonomously traverse sinusoidally varying terrain. More experiments are still being conducted and this repo and the paper will be updated accordingly.
Language: C++ - Size: 886 MB - Last synced at: almost 2 years ago - Pushed at: over 2 years ago - Stars: 35 - Forks: 11
