rayvburn/humap_local_planner
Human-aware robot trajectory planner using a hybrid trajectory candidates generation and spatiotemporal cost functions
C++BSD-3-Clause
Issues
- 0
decouple prediction and planning
#126 opened by rayvburn - 0
consider recalculating `occdist_scale` dynamically to increase the clearance from obstacles when the robot is far from the goal
#125 opened by rayvburn - 0
consider extending the `PathCrossingDetector` with the analysis of the global path plan
#124 opened by rayvburn - 0
rename the planner
#104 opened by rayvburn - 1
Add a recovery behaviour once the global plan has not been updated for N planning periods
#122 opened by rayvburn - 0
prepare Turtlebot example
#121 opened by rayvburn - 2
do not switch state from `Adjust` to `Init` when the goal is closer than double `xy_tolerance`
#112 opened by rayvburn - 5
consider adding `SlowMovementCostFunction`
#108 opened by rayvburn - 2
- 1
consider re-coupling path-related cost functions
#99 opened by rayvburn - 3
consider copying objects of the sparse environment model to avoid using mutexes for the whole planning procedure
#118 opened by rayvburn - 0
parameterize cost functions to evaluate the whole trajectory vs only the first step
#119 opened by rayvburn - 0
fix `ros::TimeNotInitializedException` in unit tests
#120 opened by rayvburn - 2
- 0
unhandled case in `TrapezoidParted`
#117 opened by rayvburn - 0
switch to non-pointer containers of people and groups in `HuberoPlanner` to avoid excessive calls in cost functions
#97 opened by rayvburn - 1
investigate memory corruption errors
#114 opened by rayvburn - 0
- 3
consider adding `ObstacleSeparationCostFunction`
#110 opened by rayvburn - 0
`CostParams` struct cleanup
#113 opened by rayvburn - 0
consider assigning negative TTC cost to trajectories that will cause collision in the first prediction step
#111 opened by rayvburn - 0
Update default parameter values in the `Config` struct according to the `dynamic_reconfigure` setup
#109 opened by rayvburn - 1
adjust `getPoseFromPlan` method of the planner
#106 opened by rayvburn - 0
- 0
cleanup in the `SocialForceModel` class
#105 opened by rayvburn - 1
maintain specific distance when passing humans
#85 opened by rayvburn - 0
add `computeTwist` for holonomic drives
#103 opened by rayvburn - 1
- 1
- 1
extend `ContextualizedCostFunction` with `getCellCosts` to allow visualization
#81 opened by rayvburn - 0
consider adding recovery behaviour for being stuck when local goal was moved behind the robot
#101 opened by rayvburn - 1
extend `PlannerState` with a support to reach the goal in case of an overshoot in position
#82 opened by rayvburn - 2
delete exponent factor from Fuzz module
#100 opened by rayvburn - 2
- 1
get rid of the `ContextualizedCostFunction`
#98 opened by rayvburn - 1
- 3
perform trajectory prediction of dynamic objects in the planner, not in cost functions
#93 opened by rayvburn - 1
fix errors in TTC visualisation
#94 opened by rayvburn - 0
- 0
add human-awareness cost functions
#90 opened by rayvburn - 0
- 1
make sure that with a frequently updated goal pose the planner will not be stuck in the `Init` state
#86 opened by rayvburn - 1
- 0
- 0
consider extension of sparse environment model predictions with actual obstacle footprints
#76 opened by rayvburn - 0
consider moving free functions from `transformations` into `SocialTrajectoryGenerator` as static methods
#78 opened by rayvburn - 0
- 0
- 3
- 0
move visualization-related publishers from `HuberoPlannerROS` to `Visualization` class
#80 opened by rayvburn