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reactive-planner

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UMich-BipedLab / CLF_reactive_planning_system

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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
  • Updated Aug 16, 2022
  • C++

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