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 co…
robot
robotics
navigation
terrain
pathfinding
motion-planning
rrt
path-planning
pathfinder
rrt-star
route-planner
cassie
biped
autonomy
route-planning
autonomous-navigation
bipedal-robots
control-lyapunov-functions
reactive-planner
cassie-robot
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Updated
Aug 16, 2022 - C++