├── CMakeLists.txt ├── Exploration ├── exp_yaw_plan │ ├── CMakeLists.txt │ ├── include │ │ └── exp_yaw_plan │ │ │ └── exp_yaw_plan.h │ ├── package.xml │ └── src │ │ └── exp_yaw_plan.cpp ├── mp_planner │ ├── CMakeLists.txt │ ├── include │ │ └── mp_planner │ │ │ ├── mp_planner.h │ │ │ └── mp_planner_quick.h │ ├── package.xml │ └── src │ │ ├── mp_planner.cpp │ │ └── mp_planner_quick.cpp ├── murder │ ├── .vscode │ │ ├── c_cpp_properties.json │ │ └── settings.json │ ├── CMakeLists.txt │ ├── include │ │ └── murder │ │ │ ├── murder.h │ │ │ └── murderFSM.h │ ├── launch │ │ ├── debug.launch │ │ ├── lite_sim.launch │ │ ├── murder_demo_largemaze.launch │ │ ├── murder_demo_powerplant.launch │ │ ├── murder_demo_real.launch │ │ ├── murder_demo_smallmaze.launch │ │ ├── rotors_sim.launch │ │ ├── sim │ │ │ ├── murder_demo_city_high.launch │ │ │ ├── murder_demo_city_low.launch │ │ │ ├── murder_demo_city_mid.launch │ │ │ ├── murder_demo_forest_high.launch │ │ │ ├── murder_demo_forest_low.launch │ │ │ ├── murder_demo_forest_mid.launch │ │ │ ├── murder_demo_indoor_high.launch │ │ │ ├── murder_demo_indoor_high_nc.launch │ │ │ ├── murder_demo_indoor_high_nd.launch │ │ │ ├── murder_demo_indoor_high_nm.launch │ │ │ ├── murder_demo_indoor_high_nt.launch │ │ │ ├── murder_demo_maze3_high.launch │ │ │ ├── murder_demo_maze3_low.launch │ │ │ ├── murder_demo_maze3_mid.launch │ │ │ ├── murder_demo_maze4_high.launch │ │ │ ├── murder_demo_maze4_low.launch │ │ │ ├── murder_demo_maze4_mid.launch │ │ │ ├── murder_demo_octa_low.launch │ │ │ ├── murder_demo_pillars_high.launch │ │ │ ├── murder_demo_pillars_high_nc.launch │ │ │ ├── murder_demo_pillars_high_nd.launch │ │ │ ├── murder_demo_pillars_high_nm.launch │ │ │ ├── murder_demo_pillars_high_nt.launch │ │ │ ├── murder_demo_powerplant_high.launch │ │ │ ├── murder_demo_powerplant_low.launch │ │ │ └── murder_demo_powerplant_mid.launch │ │ └── sim_lite │ │ │ └── single_exp_demo_octamaze_low.launch │ ├── package.xml │ ├── resource │ │ ├── ablation │ │ │ ├── murder_demo_indoor_high.yaml │ │ │ ├── murder_demo_indoor_high_nc.yaml │ │ │ ├── murder_demo_indoor_high_nd.yaml │ │ │ ├── murder_demo_indoor_high_nm.yaml │ │ │ ├── murder_demo_indoor_high_nt.yaml │ │ │ ├── murder_demo_pillars_high.yaml │ │ │ ├── murder_demo_pillars_high_nc.yaml │ │ │ ├── murder_demo_pillars_high_nd.yaml │ │ │ ├── murder_demo_pillars_high_nm.yaml │ │ │ └── murder_demo_pillars_high_nt.yaml │ │ ├── debug.yaml │ │ ├── high_mobility │ │ │ ├── murder_demo_city_high.yaml │ │ │ ├── murder_demo_city_low.yaml │ │ │ ├── murder_demo_city_mid.yaml │ │ │ ├── murder_demo_forest_high.yaml │ │ │ ├── murder_demo_forest_low.yaml │ │ │ ├── murder_demo_forest_mid.yaml │ │ │ ├── murder_demo_maze3_high.yaml │ │ │ ├── murder_demo_maze3_low.yaml │ │ │ ├── murder_demo_maze3_mid.yaml │ │ │ ├── murder_demo_maze4_high.yaml │ │ │ ├── murder_demo_maze4_low.yaml │ │ │ ├── murder_demo_maze4_mid.yaml │ │ │ ├── murder_demo_octa_maze_low.yaml │ │ │ ├── murder_demo_powerplant_high.yaml │ │ │ ├── murder_demo_powerplant_low.yaml │ │ │ └── murder_demo_powerplant_mid.yaml │ │ ├── murder_demo_largemaze.yaml │ │ ├── murder_demo_powerplant.yaml │ │ ├── murder_demo_real.yaml │ │ ├── murder_demo_smallmaze.yaml │ │ └── sim_lite │ │ │ ├── octa_maze.yaml │ │ │ └── uav_model_simulator.yaml │ ├── rviz │ │ ├── debug.rviz │ │ ├── murder_demo.rviz │ │ └── murder_demo_lite.rviz │ ├── src │ │ ├── murder.cpp │ │ ├── murderFSM.cpp │ │ └── murder_node.cpp │ └── worlds │ │ ├── amagi1.world │ │ ├── building.world │ │ ├── city.world │ │ ├── compact_city.world │ │ ├── edgar_mine.world │ │ ├── flat.world │ │ ├── flat3.world │ │ ├── forest.world │ │ ├── indoor.world │ │ ├── indoor2.world │ │ ├── large.world │ │ ├── large_maze.world │ │ ├── large_maze_lid.world │ │ ├── map_forest.world │ │ ├── map_scene_1.world │ │ ├── maze.world │ │ ├── maze1.world │ │ ├── maze2.world │ │ ├── maze3.world │ │ ├── maze4.world │ │ ├── maze_raw.world │ │ ├── no_use │ │ └── large_maze.world │ │ ├── octa_maze.world │ │ ├── outdoor.world │ │ ├── outdoor2.world │ │ ├── pillars.world │ │ ├── pillars2.world │ │ ├── power_plant.world │ │ ├── small_maze.world │ │ ├── test_city.world │ │ ├── testmap.world │ │ ├── tunnel.world │ │ ├── waypoint.world │ │ └── willowgarage.world └── swarm_data │ ├── CMakeLists.txt │ ├── include │ └── swarm_data │ │ └── swarm_data.h │ ├── package.xml │ └── src │ └── swarm_data.cpp ├── MSGS └── swarm_exp_msgs │ ├── CMakeLists.txt │ ├── msg │ ├── DtgEdge.msg │ ├── DtgNode.msg │ ├── DtgResponse.msg │ ├── DtgStamp.msg │ └── SwarmTraj.msg │ └── package.xml ├── Mapping ├── block_map.zip ├── block_map │ ├── CMakeLists.txt │ ├── color │ │ ├── Abbey_Road.png │ │ ├── Abbey_Road.yaml │ │ ├── Abbey_road.jpg │ │ ├── Burn.jpg │ │ ├── Burn.png │ │ ├── Burn.yaml │ │ ├── DrFeelgood.jpg │ │ ├── DrFeelgood.png │ │ ├── DrFeelgood.yaml │ │ ├── Odessey_Oracle.jpg │ │ ├── Odessey_Oracle.png │ │ ├── Odessey_Oracle.yaml │ │ ├── Paranoid.png │ │ ├── Paranoid.yaml │ │ ├── Powerslave.png │ │ ├── Powerslave.yaml │ │ ├── TDSOTM.jpg │ │ ├── TDSOTM.png │ │ ├── TDSOTM.yaml │ │ ├── ViewpointColor.yaml │ │ ├── color_id.yaml │ │ ├── paranoid.jpg │ │ └── powerslave.jpg │ ├── include │ │ └── block_map │ │ │ ├── block_map.h │ │ │ ├── color_manager.h │ │ │ ├── mapping_struct.h │ │ │ └── raycast.h │ ├── package.xml │ ├── rviz │ │ └── showvox.rviz │ └── src │ │ ├── block_map.cpp │ │ ├── color_manager.cpp │ │ └── raycast.cpp ├── frontier_grid │ ├── .vscode │ │ ├── c_cpp_properties.json │ │ └── settings.json │ ├── CMakeLists.txt │ ├── include │ │ └── frontier_grid │ │ │ ├── frontier_grid.h │ │ │ └── frontier_struct.h │ ├── package.xml │ ├── rviz │ │ └── showvox.rviz │ └── src │ │ ├── frontier_grid.cpp │ │ └── path_search.cpp └── lowres_map │ ├── CMakeLists.txt │ ├── Readme.md │ ├── include │ └── lowres_map │ │ └── lowres_map.h │ ├── package.xml │ └── src │ ├── lowres_map.cpp │ └── path_search.cpp ├── README.md ├── Test └── ato_test │ ├── CMakeLists.txt │ ├── launch │ ├── cmd_test.launch │ ├── fov_ray.launch │ ├── hull_test.launch │ ├── map_test.launch │ ├── swarm_sim │ │ └── swarm_vis.launch │ ├── swarm_traj.launch │ ├── traj_gain_test.launch │ ├── traj_plan.launch │ └── traj_vel_vis.launch │ ├── package.xml │ ├── resource │ ├── example.yaml │ ├── fov_cam.yaml │ ├── map_test.yaml │ ├── multi_robots_gazebo.yaml │ ├── multirobots.yaml │ ├── traj_gain_test.yaml │ ├── traj_plan.yaml │ └── vel_vis.yaml │ ├── rviz │ ├── DTG.rviz │ ├── MR_DTG.rviz │ ├── blockmap_lowres.rviz │ ├── cmd_test.rviz │ ├── corridor.rviz │ ├── fov_gain.rviz │ ├── frontier.rviz │ ├── hull_test.rviz │ ├── map_test.rviz │ ├── minco.rviz │ ├── swarm_test.rviz │ ├── swarm_traj.rviz │ ├── traj_gain_test.rviz │ ├── traj_plan.rviz │ └── traj_vel_vis.rviz │ ├── src │ ├── GMM_test.cpp │ ├── cmd_repub.cpp │ ├── cmd_test.cpp │ ├── energy_consumption.cpp │ ├── fov_ray_test.cpp │ ├── hull_test.cpp │ ├── init_traj_test.cpp │ ├── map_test.cpp │ ├── odom_exc.cpp │ ├── swarm_data_test.cpp │ ├── traj_exc_run.cpp │ ├── traj_gain_test.cpp │ ├── traj_plan.cpp │ ├── traj_swarm.cpp │ └── traj_vel_vis.cpp │ └── worlds │ ├── amagi1.world │ ├── building.world │ ├── edgar_mine.world │ ├── flat.world │ ├── flat3.world │ ├── forest.world │ ├── large.world │ ├── large_maze.world │ ├── large_maze_lid.world │ ├── map_xingxing.world │ ├── maze1.world │ ├── maze2.world │ ├── maze3.world │ ├── maze4.world │ ├── power_plant.world │ ├── testcity.world │ ├── testcity2.world │ ├── testmap.world │ └── tunnel.world ├── Tools ├── QuickHull2d │ ├── CMakeLists.txt │ ├── include │ │ └── quick_hull2d │ │ │ └── quick_hull2d.h │ ├── launch │ │ └── quickhull.launch │ ├── package.xml │ ├── rviz │ │ └── quickhull.rviz │ └── src │ │ ├── quick_hull2d.cpp │ │ └── quick_hull2d_demo_node.cpp └── kdtree │ ├── CMakeLists.txt │ ├── include │ └── kdtree │ │ └── kdtree.h │ ├── package.xml │ └── src │ └── kdtree.c ├── Trajectory ├── gcopter │ ├── CMakeLists.txt │ ├── config │ │ └── opt.yaml │ ├── include │ │ └── gcopter │ │ │ ├── gcopter.hpp │ │ │ ├── gcopter_cover.hpp │ │ │ ├── geo_utils.hpp │ │ │ ├── lbfgs.hpp │ │ │ ├── minco.hpp │ │ │ ├── quickhull.hpp │ │ │ ├── root_finder.hpp │ │ │ ├── sdlp.hpp │ │ │ ├── traj_opt.h │ │ │ ├── trajectory.hpp │ │ │ └── trajectory4.hpp │ ├── package.xml │ └── src │ │ └── traj_opt.cpp ├── traj_exc │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ └── traj_exc_node.cpp └── yaw_planner │ ├── CMakeLists.txt │ ├── include │ └── yaw_planner │ │ └── yaw_planner.h │ ├── package.xml │ └── src │ └── yaw_planner.cpp ├── data_statistics ├── CMakeLists.txt ├── data │ ├── large_maze │ │ ├── 2024_7_8_23_17_44 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── 2024_7_8_23_4_15 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── 2024_7_8_23_58_11 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── data_statistics.py │ │ └── data_statistics_traj.py │ ├── power_plant │ │ ├── 2024_7_9_15_32_31 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ └── 2024_7_9_15_36_41 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ ├── small_maze │ │ ├── 2024_7_8_16_34_22 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── 2024_7_8_16_35_53 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── 2024_7_8_16_37_19 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── 2024_7_8_16_39_17 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── 2024_7_8_16_40_27 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── 2024_7_8_16_45_8 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── 2024_7_8_16_47_6 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── 2024_7_8_16_52_39 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── 2024_7_8_16_54_27 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── 2024_7_8_16_58_55 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── 2024_7_8_17_0_40 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── 2024_7_8_17_11_44 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── 2024_7_8_17_3_23 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── 2024_7_8_17_4_17 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── 2024_7_8_17_56_42 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── 2024_7_8_17_58_16 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── 2024_7_8_17_59_45 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── 2024_7_8_17_5_34 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── 2024_7_8_17_7_25 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── 2024_7_8_17_8_9 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── 2024_7_8_18_4_50 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── 2024_7_8_18_9_48 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── 2024_7_8_19_56_43 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── 2024_7_8_20_10_5 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── 2024_7_8_20_14_27 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── 2024_7_8_20_18_47 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── 2024_7_8_20_1_42 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── 2024_7_8_20_21_23 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── 2024_7_8_20_23_3 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── 2024_7_8_20_25_47 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── 2024_7_8_20_30_18 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── 2024_7_8_20_31_56 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── 2024_7_8_20_36_30 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── 2024_7_8_20_38_3 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── 2024_7_8_20_46_58 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── 2024_7_8_20_5_2 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── 2024_7_8_22_16_23 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── 2024_7_8_22_16_36 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── 2024_7_8_22_16_55 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ └── 2024_7_8_22_17_28 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ └── wrong_param │ │ ├── large_maze │ │ ├── 2024_7_8_20_50_19 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── 2024_7_8_21_45_13 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── data_statistics.py │ │ ├── data_statistics_traj.py │ │ ├── new │ │ │ ├── data_statistics.py │ │ │ ├── data_statistics_traj.py │ │ │ ├── success_1 │ │ │ │ ├── 2024_7_7_16_8_5 │ │ │ │ │ ├── fail_plan.txt │ │ │ │ │ ├── fail_plan_t.txt │ │ │ │ │ ├── success_plan.txt │ │ │ │ │ ├── success_plan_t.txt │ │ │ │ │ ├── traj.txt │ │ │ │ │ ├── traj_t.txt │ │ │ │ │ ├── volume.txt │ │ │ │ │ └── volume_t.txt │ │ │ │ ├── traj.txt │ │ │ │ ├── traj_t.txt │ │ │ │ ├── volume.txt │ │ │ │ └── volume_t.txt │ │ │ ├── success_2 │ │ │ │ ├── fail_plan.txt │ │ │ │ ├── fail_plan_t.txt │ │ │ │ ├── success_plan.txt │ │ │ │ ├── success_plan_t.txt │ │ │ │ ├── traj.txt │ │ │ │ ├── traj_t.txt │ │ │ │ ├── volume.txt │ │ │ │ └── volume_t.txt │ │ │ ├── success_3 │ │ │ │ ├── fail_plan.txt │ │ │ │ ├── fail_plan_t.txt │ │ │ │ ├── success_plan.txt │ │ │ │ ├── success_plan_t.txt │ │ │ │ ├── traj.txt │ │ │ │ ├── traj_t.txt │ │ │ │ ├── volume.txt │ │ │ │ └── volume_t.txt │ │ │ ├── success_4 │ │ │ │ ├── fail_plan.txt │ │ │ │ ├── fail_plan_t.txt │ │ │ │ ├── success_plan.txt │ │ │ │ ├── success_plan_t.txt │ │ │ │ ├── traj.txt │ │ │ │ ├── traj_t.txt │ │ │ │ ├── volume.txt │ │ │ │ └── volume_t.txt │ │ │ └── success_5 │ │ │ │ ├── fail_plan.txt │ │ │ │ ├── fail_plan_t.txt │ │ │ │ ├── success_plan.txt │ │ │ │ ├── success_plan_t.txt │ │ │ │ ├── traj.txt │ │ │ │ ├── traj_t.txt │ │ │ │ ├── volume.txt │ │ │ │ └── volume_t.txt │ │ ├── success_1 │ │ │ ├── 2024_7_7_16_8_5 │ │ │ │ ├── fail_plan.txt │ │ │ │ ├── fail_plan_t.txt │ │ │ │ ├── success_plan.txt │ │ │ │ ├── success_plan_t.txt │ │ │ │ ├── traj.txt │ │ │ │ ├── traj_t.txt │ │ │ │ ├── volume.txt │ │ │ │ └── volume_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── success_2 │ │ │ ├── 2024_7_7_15_36_59 │ │ │ │ ├── fail_plan.txt │ │ │ │ ├── fail_plan_t.txt │ │ │ │ ├── success_plan.txt │ │ │ │ ├── success_plan_t.txt │ │ │ │ ├── traj.txt │ │ │ │ ├── traj_t.txt │ │ │ │ ├── volume.txt │ │ │ │ └── volume_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── success_3 │ │ │ ├── 2024_7_7_15_56_38 │ │ │ │ ├── fail_plan.txt │ │ │ │ ├── fail_plan_t.txt │ │ │ │ ├── success_plan.txt │ │ │ │ ├── success_plan_t.txt │ │ │ │ ├── traj.txt │ │ │ │ ├── traj_t.txt │ │ │ │ ├── volume.txt │ │ │ │ └── volume_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── success_4 │ │ │ ├── 2024_7_8_14_37_52 │ │ │ │ ├── fail_plan.txt │ │ │ │ ├── fail_plan_t.txt │ │ │ │ ├── success_plan.txt │ │ │ │ ├── success_plan_t.txt │ │ │ │ ├── traj.txt │ │ │ │ ├── traj_t.txt │ │ │ │ ├── volume.txt │ │ │ │ └── volume_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ └── success_5 │ │ │ ├── 2024_7_7_17_45_31 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ └── small_maze │ │ ├── 2024_7_8_15_22_57 │ │ ├── fail_plan.txt │ │ ├── fail_plan_t.txt │ │ ├── success_plan.txt │ │ ├── success_plan_t.txt │ │ ├── traj.txt │ │ ├── traj_t.txt │ │ ├── volume.txt │ │ └── volume_t.txt │ │ ├── 2024_7_8_16_47_6 │ │ ├── fail_plan.txt │ │ ├── fail_plan_t.txt │ │ ├── success_plan.txt │ │ ├── success_plan_t.txt │ │ ├── traj.txt │ │ ├── traj_t.txt │ │ ├── volume.txt │ │ └── volume_t.txt │ │ ├── 2024_7_8_20_5_2 │ │ ├── fail_plan.txt │ │ ├── fail_plan_t.txt │ │ ├── success_plan.txt │ │ ├── success_plan_t.txt │ │ ├── traj.txt │ │ ├── traj_t.txt │ │ ├── volume.txt │ │ └── volume_t.txt │ │ ├── data_statistics.py │ │ ├── success_1 │ │ ├── 2024_7_8_10_0_1 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── traj.txt │ │ ├── traj_t.txt │ │ ├── volume.txt │ │ └── volume_t.txt │ │ ├── success_2 │ │ ├── 2024_7_8_14_58_47 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── traj.txt │ │ ├── traj_t.txt │ │ ├── volume.txt │ │ └── volume_t.txt │ │ ├── success_3 │ │ ├── 2024_7_8_10_48_27 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── traj.txt │ │ ├── traj_t.txt │ │ ├── volume.txt │ │ └── volume_t.txt │ │ ├── success_4 │ │ ├── 2024_7_8_11_15_31 │ │ │ ├── fail_plan.txt │ │ │ ├── fail_plan_t.txt │ │ │ ├── success_plan.txt │ │ │ ├── success_plan_t.txt │ │ │ ├── traj.txt │ │ │ ├── traj_t.txt │ │ │ ├── volume.txt │ │ │ └── volume_t.txt │ │ ├── traj.txt │ │ ├── traj_t.txt │ │ ├── volume.txt │ │ └── volume_t.txt │ │ └── success_5 │ │ ├── 2024_7_8_11_19_45 │ │ ├── fail_plan.txt │ │ ├── fail_plan_t.txt │ │ ├── success_plan.txt │ │ ├── success_plan_t.txt │ │ ├── traj.txt │ │ ├── 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