├── .gitignore ├── LICENSE ├── README.md ├── SimpleReedsSheppCarPlanner ├── CMakeLists.txt └── src │ ├── MultipleCircleReedsSheppCarPlanner.cpp │ ├── MultipleCircleStateValidityChecker.cpp │ └── include │ └── MultipleCircleStateValidityChecker.h ├── _config.yml ├── coordinator_default_config_post.rviz ├── coordinator_default_config_pre.rviz ├── gradle └── wrapper │ ├── gradle-wrapper.jar │ └── gradle-wrapper.properties ├── gradlew ├── gradlew.bat ├── images ├── browser-gui.png ├── coord-rsp.png ├── coord.png ├── logs.png └── rviz-gui.png ├── maps ├── basement.png ├── basement.yaml ├── map-corridors-1.png ├── map-corridors-vi.png ├── map-corridors-vi.yaml ├── map-corridors.png ├── map-corridors.yaml ├── map-empty-circle.png ├── map-empty-circle.yaml ├── map-empty-inv.png ├── map-empty.png ├── map-empty.yaml ├── map-full.png ├── map-partial-1.png ├── map-partial-1.yaml ├── map-partial-2.png ├── map-partial-2.yaml ├── map-partial-vi.png ├── map-partial-vi.yaml ├── map-partial.png ├── map-partial.yaml ├── map1.png └── map1.yaml ├── missions ├── icaps_locations_and_paths.txt ├── icaps_locations_and_paths_1.txt └── icaps_locations_and_paths_4.txt ├── modelROS.png ├── modelROS.ucls ├── modelSimulation2D.png ├── modelSimulation2D.ucls ├── paths ├── debug1.path ├── debug2.path ├── debug3.path ├── newpath1.path ├── newpath1inv.path ├── newpath2.path ├── newpath2inv.path ├── newpath3.path ├── newpath3inv.path ├── path1.path ├── path2.path ├── path3.path ├── path4.path ├── path5.path ├── test_poses.txt ├── test_poses2.txt ├── test_poses_and_path_data.txt └── test_poses_and_path_data_loop.txt ├── publishing.txt ├── src └── main │ ├── java │ └── se │ │ └── oru │ │ └── coordination │ │ └── coordination_oru │ │ ├── AbstractTrajectoryEnvelopeCoordinator.java │ │ ├── AbstractTrajectoryEnvelopeTracker.java │ │ ├── CollisionEvent.java │ │ ├── ConstantAccelerationForwardModel.java │ │ ├── CriticalSection.java │ │ ├── Dependency.java │ │ ├── ForwardModel.java │ │ ├── Mission.java │ │ ├── NetworkConfiguration.java │ │ ├── RobotAtCriticalSection.java │ │ ├── RobotReport.java │ │ ├── TrackingCallback.java │ │ ├── TrajectoryEnvelopeCoordinator.java │ │ ├── TrajectoryEnvelopeTrackerDummy.java │ │ ├── demo │ │ ├── DemoDescription.java │ │ └── DemoLauncher.java │ │ ├── motionplanning │ │ ├── AbstractMotionPlanner.java │ │ ├── OccupancyMap.java │ │ ├── ompl │ │ │ ├── ReedsSheppCarPlanner.java │ │ │ └── ReedsSheppCarPlannerLib.java │ │ ├── roadmap │ │ │ └── RoadMapPlanner.java │ │ └── tests │ │ │ └── ompl │ │ │ ├── TestReedsSheppCarPlanner.java │ │ │ ├── TestReedsSheppCarPlannerMulitpleCircles.java │ │ │ └── TestReedsSheppCarPlannerSmoothGeometry.java │ │ ├── simulation2D │ │ ├── Derivative.java │ │ ├── State.java │ │ ├── TrajectoryEnvelopeCoordinatorSimulation.java │ │ └── TrajectoryEnvelopeTrackerRK4.java │ │ ├── tests │ │ ├── MinimalExample.java │ │ ├── TestTrajectoryEnvelopeCoordinatorThreeRobots.java │ │ ├── TestTrajectoryEnvelopeCoordinatorThreeRobotsReverseEnvelope.java │ │ ├── TestTrajectoryEnvelopeCoordinatorThreeRobotsTruncateEnvelope.java │ │ ├── TestTrajectoryEnvelopeCoordinatorWithMotionPlanner.java │ │ ├── TestTrajectoryEnvelopeCoordinatorWithMotionPlanner10.java │ │ ├── TestTrajectoryEnvelopeCoordinatorWithMotionPlanner11.java │ │ ├── TestTrajectoryEnvelopeCoordinatorWithMotionPlanner12.java │ │ ├── TestTrajectoryEnvelopeCoordinatorWithMotionPlanner13.java │ │ ├── TestTrajectoryEnvelopeCoordinatorWithMotionPlanner14.java │ │ ├── TestTrajectoryEnvelopeCoordinatorWithMotionPlanner15.java │ │ ├── TestTrajectoryEnvelopeCoordinatorWithMotionPlanner16.java │ │ ├── TestTrajectoryEnvelopeCoordinatorWithMotionPlanner17.java │ │ ├── TestTrajectoryEnvelopeCoordinatorWithMotionPlanner18.java │ │ ├── TestTrajectoryEnvelopeCoordinatorWithMotionPlanner19.java │ │ ├── TestTrajectoryEnvelopeCoordinatorWithMotionPlanner2.java │ │ ├── TestTrajectoryEnvelopeCoordinatorWithMotionPlanner20.java │ │ ├── TestTrajectoryEnvelopeCoordinatorWithMotionPlanner21.java │ │ ├── TestTrajectoryEnvelopeCoordinatorWithMotionPlanner22.java │ │ ├── TestTrajectoryEnvelopeCoordinatorWithMotionPlanner3.java │ │ ├── TestTrajectoryEnvelopeCoordinatorWithMotionPlanner4.java │ │ ├── TestTrajectoryEnvelopeCoordinatorWithMotionPlanner5.java │ │ ├── TestTrajectoryEnvelopeCoordinatorWithMotionPlanner6.java │ │ ├── TestTrajectoryEnvelopeCoordinatorWithMotionPlanner7.java │ │ ├── TestTrajectoryEnvelopeCoordinatorWithMotionPlanner8.java │ │ ├── TestTrajectoryEnvelopeCoordinatorWithMotionPlanner9.java │ │ ├── TestTrajectoryEnvelopeCoordinatorWithMotionPlannerFollowing.java │ │ ├── TestTrajectoryEnvelopeCoordinatorWithMotionPlannerReplan.java │ │ ├── TestTrajectoryEnvelopeCoordinatorWithMotionPlannerReplanMiddle.java │ │ ├── TestTrajectoryEnvelopeCoordinatorWithMotionPlannerReplanNew.java │ │ ├── TestTrajectoryEnvelopeThreeRobotsReplanOnRequest.java │ │ ├── TrafficExample.java │ │ ├── UPF │ │ │ └── UPFAdapter.java │ │ ├── clean │ │ │ ├── ContinuePathExample.java │ │ │ ├── Diameter.java │ │ │ ├── FourRobotsCircle.java │ │ │ ├── MinimalExample.java │ │ │ ├── RandomPathsInMap.java │ │ │ ├── ReplacePathExample.java │ │ │ ├── ScenarioLoading.java │ │ │ ├── ThreeDifferentRobotsLinear.java │ │ │ ├── ThreeRobotsAsynchronousGoalPosting.java │ │ │ ├── ThreeRobotsDeadlock.java │ │ │ ├── ThreeRobotsFast.java │ │ │ ├── ThreeRobotsSimple.java │ │ │ ├── TwoRobotsFollowing.java │ │ │ ├── TwoRobotsFollowingVsOpposing.java │ │ │ ├── TwoRobotsIdle.java │ │ │ ├── TwoRobotsOpposing.java │ │ │ ├── TwoRobotsTotalOverlap.java │ │ │ └── Waves.java │ │ ├── icaps2018 │ │ │ ├── eval │ │ │ │ ├── Experiment1Test1.java │ │ │ │ ├── Experiment1Test2.java │ │ │ │ ├── Experiment2.java │ │ │ │ └── TrajectoryEnvelopeCoordinatorSimulationICAPS.java │ │ │ └── talk │ │ │ │ ├── FourRobotsCircle.java │ │ │ │ ├── OneRobotPlacement.java │ │ │ │ ├── RandomPathsInMap.java │ │ │ │ ├── ThreeDifferentRobotsLinear.java │ │ │ │ ├── ThreeRobotsDeadlock.java │ │ │ │ ├── ThreeRobotsFast.java │ │ │ │ ├── ThreeRobotsGoalPosting.java │ │ │ │ ├── ThreeRobotsLinear.java │ │ │ │ ├── ThreeRobotsSimple.java │ │ │ │ ├── TwoRobotsFollowing.java │ │ │ │ ├── TwoRobotsOpposing.java │ │ │ │ └── Waves.java │ │ └── safetyAndLiveness │ │ │ ├── Basement.java │ │ │ ├── Circle.java │ │ │ ├── Diameter.java │ │ │ ├── ParkingArray.java │ │ │ ├── ParkingArrayNew.java │ │ │ ├── TestCreateEnvelope.java │ │ │ ├── TestJgraphLib.java │ │ │ └── nRobotsDeadlock.java │ │ └── util │ │ ├── BrowseLogs.java │ │ ├── BrowserVisualization.java │ │ ├── BrowserVisualizationServer.java │ │ ├── BrowserVisualizationServlet.java │ │ ├── BrowserVisualizationSocket.java │ │ ├── FleetVisualization.java │ │ ├── GeometrySmoother.java │ │ ├── JTSDrawingPanelVisualization.java │ │ ├── MapInspector.java │ │ ├── MissionDispatchingCallback.java │ │ ├── Missions.java │ │ ├── Pair.java │ │ ├── PathEditor.java │ │ ├── PathEditor2.java │ │ ├── RVizVisualization.java │ │ 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