This repository contains the implementation of Safe-Returning-FaSTrack introduced in the paper Safe Returning FaSTrack with Robust Control Lyapunov-Value Functions by Zheng Gong*, Boyang Li* and Sylvia Herbert.
SR-F is designed to reject unexpected disturbances during navigation in a priori unknown environments, while accelerating the process. It merges concepts from 1) Robust Control Lyapunov-Value Functions (R-CLVF), and 2) Fast and Safe Tracking (FaSTrack) framework.
Two SR-F demos in the paper are included:
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8D quadrotor model tracking a 2D integrator planner model with the A* planner,
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10D near-hover quadrotor tracking a 3D integrator planner model with the RRT planner.
hj_reachability: https://github.com/HJReachability/helperOCControl-Lyapunov-Value-Functions: https://github.com/ZG0327/Control-Lyapunov-Value-FunctionsLevel Set Methods Toolboxby Ian Mitchell: https://www.cs.ubc.ca/~mitchell/ToolboxLS/.