This repository contains the code used in the paper:
Pham, Quang-Cuong, Stéphane Caron, and Yoshihiko Nakamura. Kinodynamic Planning in the Configuration Space via Admissible Velocity Propagation. Robotics: Science and Systems. 2013.
Run make vip-rrt.py
to open IPython with an AVP-RRT instance.
Plots for the torque-limited pendulum:
make 11-05
: (11, 5)-Nm torque limitmake 11-07
: (11, 7)-Nm torque limitmake 13-05
: (13, 5)-Nm torque limit
Plots for RRT parameter identification:
make param-dur
: vary the maximum duration of local trajectoriesmake param-mod
: vary the steer-to-goal frequency (in number of steps)make param-trj
: vary the number of trajectories tried per extension