├── .gitignore ├── .gitmodules ├── LICENSE ├── README.md ├── UKF_Estimator.py ├── config.py ├── file_version.py ├── get_opt_paths.py ├── matlab ├── NodeListData_v2_0_1624832981.csv ├── NodeListData_v2_0_1627413080.csv ├── README.md ├── analyze_tree.m ├── load_tree.m ├── plot_tree.m ├── simualate_individual_tree_traj.m └── uni_dyn.m ├── monte_carlo ├── OptTraj_short_v2_0_1624832981 │ ├── 000000000001 │ │ ├── problem_data.pkl │ │ ├── result_data_lqr.pkl │ │ ├── result_data_lqrm.pkl │ │ ├── result_data_nmpc.pkl │ │ └── result_data_open-loop.pkl │ ├── 000000000002 │ │ ├── problem_data.pkl │ │ ├── result_data_lqr.pkl │ │ ├── result_data_lqrm.pkl │ │ ├── result_data_nmpc.pkl │ │ └── result_data_open-loop.pkl │ ├── 000000000003 │ │ ├── problem_data.pkl │ │ ├── result_data_lqr.pkl │ │ ├── result_data_lqrm.pkl │ │ ├── result_data_nmpc.pkl │ │ └── result_data_open-loop.pkl │ ├── 000000000004 │ │ ├── problem_data.pkl │ │ ├── result_data_lqr.pkl │ │ ├── result_data_lqrm.pkl │ │ ├── result_data_nmpc.pkl │ │ └── result_data_open-loop.pkl │ ├── 000000000005 │ │ ├── problem_data.pkl │ │ ├── result_data_lqr.pkl │ │ ├── result_data_lqrm.pkl │ │ ├── result_data_nmpc.pkl │ │ └── result_data_open-loop.pkl │ ├── 000000000006 │ │ ├── problem_data.pkl │ │ ├── result_data_lqr.pkl │ │ ├── result_data_lqrm.pkl │ │ ├── result_data_nmpc.pkl │ │ └── result_data_open-loop.pkl │ ├── 000000000007 │ │ ├── problem_data.pkl │ │ ├── result_data_lqr.pkl │ │ ├── result_data_lqrm.pkl │ │ ├── result_data_nmpc.pkl │ │ └── result_data_open-loop.pkl │ ├── 000000000008 │ │ ├── problem_data.pkl │ │ ├── result_data_lqr.pkl │ │ ├── result_data_lqrm.pkl │ │ ├── result_data_nmpc.pkl │ │ └── result_data_open-loop.pkl │ ├── 000000000009 │ │ ├── problem_data.pkl │ │ ├── result_data_lqr.pkl │ │ ├── result_data_lqrm.pkl │ │ ├── result_data_nmpc.pkl │ │ └── result_data_open-loop.pkl │ └── 000000000010 │ │ ├── problem_data.pkl │ │ ├── result_data_lqr.pkl │ │ ├── result_data_lqrm.pkl │ │ ├── result_data_nmpc.pkl │ │ └── result_data_open-loop.pkl └── path_plots │ └── OptTraj_short_v2_0_1624832981 │ ├── path_plot_lqr.png │ ├── path_plot_lqrm.png │ ├── path_plot_nmpc.png │ └── path_plot_open-loop.png ├── rans_rrtstar.py ├── saved_data └── IROS2021 │ ├── NodeListData_v2_0_1627413080 │ ├── NodeListData_v2_0_1627415084 │ ├── NodeListData_v2_0_1627416820 │ ├── NodeListData_v2_0_1627417524 │ ├── NodeListData_v2_0_1627419275 │ ├── final │ ├── NodeListData_v2_0_1627413080 │ ├── NodeListData_v2_0_1627413080.csv │ ├── NodeListData_v2_0_1627415084 │ ├── NodeListData_v2_0_1627415084.csv │ ├── NodeListData_v2_0_1627417524 │ ├── NodeListData_v2_0_1627417524.csv │ ├── NodeListData_v2_0_1627419275 │ ├── NodeListData_v2_0_1627419275.csv │ ├── OptTraj_short_v2_0_1627413080_inputs │ ├── OptTraj_short_v2_0_1627413080_states │ ├── OptTraj_short_v2_0_1627419275_inputs │ ├── OptTraj_short_v2_0_1627419275_states │ ├── plot_tree_v2_0_1627413080.png │ ├── plot_tree_v2_0_1627415084.png │ ├── plot_tree_v2_0_1627417524.png │ ├── plot_tree_v2_0_1627419275.png │ └── tree_infos.txt │ ├── fixed_bug │ ├── NodeListData_v2_0_1624832981 │ ├── NodeListData_v2_0_1624832981.csv │ ├── OptTraj_short_v2_0_1624832981_inputs │ ├── OptTraj_short_v2_0_1624832981_plot.png │ ├── OptTraj_short_v2_0_1624832981_states │ ├── OptTraj_v2_0_1624832981_inputs │ ├── OptTraj_v2_0_1624832981_plot.png │ ├── OptTraj_v2_0_1624832981_states │ └── plot_tree_v2_0_1624832981.png │ ├── plot_tree_v2_0_1627413080.png │ ├── plot_tree_v2_0_1627415084.png │ ├── plot_tree_v2_0_1627416820.png │ ├── plot_tree_v2_0_1627417524.png │ ├── plot_tree_v2_0_1627419275.png │ └── tree_infos.txt ├── scripts ├── __init__.py ├── collision_check.py ├── conlab.mplstyle ├── drrrts_nmpc.py ├── geometry.py ├── lqr.py ├── monte_carlo.py ├── monte_carlo_function.py ├── monte_carlo_parallel_sim.py ├── nonlin_steer.py ├── opt_path.py ├── plotting.py ├── problem_domain.py ├── robustness_figure.png ├── robustness_figure.py ├── rrts_nmpc.py ├── sim_check.py └── tracking_controller.py └── unicycle ├── __init__.py ├── lqr_uni.py ├── plotting_uni.py └── tracking_controller_uni.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/.gitignore -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/.gitmodules -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/README.md -------------------------------------------------------------------------------- /UKF_Estimator.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/UKF_Estimator.py -------------------------------------------------------------------------------- /config.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/config.py -------------------------------------------------------------------------------- /file_version.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/file_version.py -------------------------------------------------------------------------------- /get_opt_paths.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/get_opt_paths.py -------------------------------------------------------------------------------- /matlab/NodeListData_v2_0_1624832981.csv: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/matlab/NodeListData_v2_0_1624832981.csv -------------------------------------------------------------------------------- /matlab/NodeListData_v2_0_1627413080.csv: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/matlab/NodeListData_v2_0_1627413080.csv -------------------------------------------------------------------------------- /matlab/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/matlab/README.md -------------------------------------------------------------------------------- /matlab/analyze_tree.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/matlab/analyze_tree.m -------------------------------------------------------------------------------- /matlab/load_tree.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/matlab/load_tree.m -------------------------------------------------------------------------------- /matlab/plot_tree.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/matlab/plot_tree.m -------------------------------------------------------------------------------- /matlab/simualate_individual_tree_traj.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/matlab/simualate_individual_tree_traj.m -------------------------------------------------------------------------------- /matlab/uni_dyn.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/matlab/uni_dyn.m -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000001/problem_data.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000001/problem_data.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000001/result_data_lqr.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000001/result_data_lqr.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000001/result_data_lqrm.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000001/result_data_lqrm.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000001/result_data_nmpc.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000001/result_data_nmpc.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000001/result_data_open-loop.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000001/result_data_open-loop.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000002/problem_data.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000002/problem_data.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000002/result_data_lqr.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000002/result_data_lqr.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000002/result_data_lqrm.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000002/result_data_lqrm.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000002/result_data_nmpc.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000002/result_data_nmpc.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000002/result_data_open-loop.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000002/result_data_open-loop.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000003/problem_data.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000003/problem_data.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000003/result_data_lqr.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000003/result_data_lqr.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000003/result_data_lqrm.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000003/result_data_lqrm.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000003/result_data_nmpc.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000003/result_data_nmpc.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000003/result_data_open-loop.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000003/result_data_open-loop.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000004/problem_data.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000004/problem_data.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000004/result_data_lqr.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000004/result_data_lqr.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000004/result_data_lqrm.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000004/result_data_lqrm.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000004/result_data_nmpc.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000004/result_data_nmpc.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000004/result_data_open-loop.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000004/result_data_open-loop.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000005/problem_data.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000005/problem_data.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000005/result_data_lqr.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000005/result_data_lqr.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000005/result_data_lqrm.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000005/result_data_lqrm.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000005/result_data_nmpc.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000005/result_data_nmpc.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000005/result_data_open-loop.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000005/result_data_open-loop.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000006/problem_data.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000006/problem_data.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000006/result_data_lqr.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000006/result_data_lqr.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000006/result_data_lqrm.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000006/result_data_lqrm.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000006/result_data_nmpc.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000006/result_data_nmpc.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000006/result_data_open-loop.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000006/result_data_open-loop.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000007/problem_data.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000007/problem_data.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000007/result_data_lqr.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000007/result_data_lqr.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000007/result_data_lqrm.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000007/result_data_lqrm.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000007/result_data_nmpc.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000007/result_data_nmpc.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000007/result_data_open-loop.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000007/result_data_open-loop.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000008/problem_data.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000008/problem_data.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000008/result_data_lqr.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000008/result_data_lqr.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000008/result_data_lqrm.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000008/result_data_lqrm.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000008/result_data_nmpc.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000008/result_data_nmpc.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000008/result_data_open-loop.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000008/result_data_open-loop.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000009/problem_data.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000009/problem_data.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000009/result_data_lqr.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000009/result_data_lqr.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000009/result_data_lqrm.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000009/result_data_lqrm.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000009/result_data_nmpc.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000009/result_data_nmpc.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000009/result_data_open-loop.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000009/result_data_open-loop.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000010/problem_data.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000010/problem_data.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000010/result_data_lqr.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000010/result_data_lqr.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000010/result_data_lqrm.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000010/result_data_lqrm.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000010/result_data_nmpc.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000010/result_data_nmpc.pkl -------------------------------------------------------------------------------- /monte_carlo/OptTraj_short_v2_0_1624832981/000000000010/result_data_open-loop.pkl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/OptTraj_short_v2_0_1624832981/000000000010/result_data_open-loop.pkl -------------------------------------------------------------------------------- /monte_carlo/path_plots/OptTraj_short_v2_0_1624832981/path_plot_lqr.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/path_plots/OptTraj_short_v2_0_1624832981/path_plot_lqr.png -------------------------------------------------------------------------------- /monte_carlo/path_plots/OptTraj_short_v2_0_1624832981/path_plot_lqrm.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/path_plots/OptTraj_short_v2_0_1624832981/path_plot_lqrm.png -------------------------------------------------------------------------------- /monte_carlo/path_plots/OptTraj_short_v2_0_1624832981/path_plot_nmpc.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/path_plots/OptTraj_short_v2_0_1624832981/path_plot_nmpc.png -------------------------------------------------------------------------------- /monte_carlo/path_plots/OptTraj_short_v2_0_1624832981/path_plot_open-loop.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/monte_carlo/path_plots/OptTraj_short_v2_0_1624832981/path_plot_open-loop.png -------------------------------------------------------------------------------- /rans_rrtstar.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/rans_rrtstar.py -------------------------------------------------------------------------------- /saved_data/IROS2021/NodeListData_v2_0_1627413080: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/saved_data/IROS2021/NodeListData_v2_0_1627413080 -------------------------------------------------------------------------------- /saved_data/IROS2021/NodeListData_v2_0_1627415084: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/saved_data/IROS2021/NodeListData_v2_0_1627415084 -------------------------------------------------------------------------------- /saved_data/IROS2021/NodeListData_v2_0_1627416820: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/saved_data/IROS2021/NodeListData_v2_0_1627416820 -------------------------------------------------------------------------------- /saved_data/IROS2021/NodeListData_v2_0_1627417524: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/saved_data/IROS2021/NodeListData_v2_0_1627417524 -------------------------------------------------------------------------------- /saved_data/IROS2021/NodeListData_v2_0_1627419275: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/saved_data/IROS2021/NodeListData_v2_0_1627419275 -------------------------------------------------------------------------------- /saved_data/IROS2021/final/NodeListData_v2_0_1627413080: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/saved_data/IROS2021/final/NodeListData_v2_0_1627413080 -------------------------------------------------------------------------------- /saved_data/IROS2021/final/NodeListData_v2_0_1627413080.csv: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/saved_data/IROS2021/final/NodeListData_v2_0_1627413080.csv -------------------------------------------------------------------------------- /saved_data/IROS2021/final/NodeListData_v2_0_1627415084: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/saved_data/IROS2021/final/NodeListData_v2_0_1627415084 -------------------------------------------------------------------------------- /saved_data/IROS2021/final/NodeListData_v2_0_1627415084.csv: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/saved_data/IROS2021/final/NodeListData_v2_0_1627415084.csv -------------------------------------------------------------------------------- /saved_data/IROS2021/final/NodeListData_v2_0_1627417524: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/saved_data/IROS2021/final/NodeListData_v2_0_1627417524 -------------------------------------------------------------------------------- /saved_data/IROS2021/final/NodeListData_v2_0_1627417524.csv: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/saved_data/IROS2021/final/NodeListData_v2_0_1627417524.csv -------------------------------------------------------------------------------- /saved_data/IROS2021/final/NodeListData_v2_0_1627419275: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/saved_data/IROS2021/final/NodeListData_v2_0_1627419275 -------------------------------------------------------------------------------- /saved_data/IROS2021/final/NodeListData_v2_0_1627419275.csv: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/saved_data/IROS2021/final/NodeListData_v2_0_1627419275.csv -------------------------------------------------------------------------------- /saved_data/IROS2021/final/OptTraj_short_v2_0_1627413080_inputs: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/saved_data/IROS2021/final/OptTraj_short_v2_0_1627413080_inputs -------------------------------------------------------------------------------- /saved_data/IROS2021/final/OptTraj_short_v2_0_1627413080_states: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/saved_data/IROS2021/final/OptTraj_short_v2_0_1627413080_states -------------------------------------------------------------------------------- /saved_data/IROS2021/final/OptTraj_short_v2_0_1627419275_inputs: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/saved_data/IROS2021/final/OptTraj_short_v2_0_1627419275_inputs -------------------------------------------------------------------------------- /saved_data/IROS2021/final/OptTraj_short_v2_0_1627419275_states: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/saved_data/IROS2021/final/OptTraj_short_v2_0_1627419275_states -------------------------------------------------------------------------------- /saved_data/IROS2021/final/plot_tree_v2_0_1627413080.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/saved_data/IROS2021/final/plot_tree_v2_0_1627413080.png -------------------------------------------------------------------------------- /saved_data/IROS2021/final/plot_tree_v2_0_1627415084.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/saved_data/IROS2021/final/plot_tree_v2_0_1627415084.png -------------------------------------------------------------------------------- /saved_data/IROS2021/final/plot_tree_v2_0_1627417524.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/saved_data/IROS2021/final/plot_tree_v2_0_1627417524.png -------------------------------------------------------------------------------- /saved_data/IROS2021/final/plot_tree_v2_0_1627419275.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/saved_data/IROS2021/final/plot_tree_v2_0_1627419275.png -------------------------------------------------------------------------------- /saved_data/IROS2021/final/tree_infos.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/saved_data/IROS2021/final/tree_infos.txt -------------------------------------------------------------------------------- /saved_data/IROS2021/fixed_bug/NodeListData_v2_0_1624832981: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/saved_data/IROS2021/fixed_bug/NodeListData_v2_0_1624832981 -------------------------------------------------------------------------------- /saved_data/IROS2021/fixed_bug/NodeListData_v2_0_1624832981.csv: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/saved_data/IROS2021/fixed_bug/NodeListData_v2_0_1624832981.csv -------------------------------------------------------------------------------- /saved_data/IROS2021/fixed_bug/OptTraj_short_v2_0_1624832981_inputs: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/saved_data/IROS2021/fixed_bug/OptTraj_short_v2_0_1624832981_inputs -------------------------------------------------------------------------------- /saved_data/IROS2021/fixed_bug/OptTraj_short_v2_0_1624832981_plot.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/saved_data/IROS2021/fixed_bug/OptTraj_short_v2_0_1624832981_plot.png -------------------------------------------------------------------------------- /saved_data/IROS2021/fixed_bug/OptTraj_short_v2_0_1624832981_states: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/saved_data/IROS2021/fixed_bug/OptTraj_short_v2_0_1624832981_states -------------------------------------------------------------------------------- /saved_data/IROS2021/fixed_bug/OptTraj_v2_0_1624832981_inputs: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/saved_data/IROS2021/fixed_bug/OptTraj_v2_0_1624832981_inputs -------------------------------------------------------------------------------- /saved_data/IROS2021/fixed_bug/OptTraj_v2_0_1624832981_plot.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/saved_data/IROS2021/fixed_bug/OptTraj_v2_0_1624832981_plot.png -------------------------------------------------------------------------------- /saved_data/IROS2021/fixed_bug/OptTraj_v2_0_1624832981_states: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/saved_data/IROS2021/fixed_bug/OptTraj_v2_0_1624832981_states -------------------------------------------------------------------------------- /saved_data/IROS2021/fixed_bug/plot_tree_v2_0_1624832981.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/saved_data/IROS2021/fixed_bug/plot_tree_v2_0_1624832981.png -------------------------------------------------------------------------------- /saved_data/IROS2021/plot_tree_v2_0_1627413080.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/saved_data/IROS2021/plot_tree_v2_0_1627413080.png -------------------------------------------------------------------------------- /saved_data/IROS2021/plot_tree_v2_0_1627415084.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/saved_data/IROS2021/plot_tree_v2_0_1627415084.png -------------------------------------------------------------------------------- /saved_data/IROS2021/plot_tree_v2_0_1627416820.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/saved_data/IROS2021/plot_tree_v2_0_1627416820.png -------------------------------------------------------------------------------- /saved_data/IROS2021/plot_tree_v2_0_1627417524.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/saved_data/IROS2021/plot_tree_v2_0_1627417524.png -------------------------------------------------------------------------------- /saved_data/IROS2021/plot_tree_v2_0_1627419275.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/saved_data/IROS2021/plot_tree_v2_0_1627419275.png -------------------------------------------------------------------------------- /saved_data/IROS2021/tree_infos.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/saved_data/IROS2021/tree_infos.txt -------------------------------------------------------------------------------- /scripts/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /scripts/collision_check.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/scripts/collision_check.py -------------------------------------------------------------------------------- /scripts/conlab.mplstyle: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/scripts/conlab.mplstyle -------------------------------------------------------------------------------- /scripts/drrrts_nmpc.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/scripts/drrrts_nmpc.py -------------------------------------------------------------------------------- /scripts/geometry.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/scripts/geometry.py -------------------------------------------------------------------------------- /scripts/lqr.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/scripts/lqr.py -------------------------------------------------------------------------------- /scripts/monte_carlo.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/scripts/monte_carlo.py -------------------------------------------------------------------------------- /scripts/monte_carlo_function.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/scripts/monte_carlo_function.py -------------------------------------------------------------------------------- /scripts/monte_carlo_parallel_sim.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/scripts/monte_carlo_parallel_sim.py -------------------------------------------------------------------------------- /scripts/nonlin_steer.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/scripts/nonlin_steer.py -------------------------------------------------------------------------------- /scripts/opt_path.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/scripts/opt_path.py -------------------------------------------------------------------------------- /scripts/plotting.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/scripts/plotting.py -------------------------------------------------------------------------------- /scripts/problem_domain.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/scripts/problem_domain.py -------------------------------------------------------------------------------- /scripts/robustness_figure.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/scripts/robustness_figure.png -------------------------------------------------------------------------------- /scripts/robustness_figure.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/scripts/robustness_figure.py -------------------------------------------------------------------------------- /scripts/rrts_nmpc.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/scripts/rrts_nmpc.py -------------------------------------------------------------------------------- /scripts/sim_check.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/scripts/sim_check.py -------------------------------------------------------------------------------- /scripts/tracking_controller.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/scripts/tracking_controller.py -------------------------------------------------------------------------------- /unicycle/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /unicycle/lqr_uni.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/unicycle/lqr_uni.py -------------------------------------------------------------------------------- /unicycle/plotting_uni.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/unicycle/plotting_uni.py -------------------------------------------------------------------------------- /unicycle/tracking_controller_uni.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TSummersLab/RANS-RRTStar/HEAD/unicycle/tracking_controller_uni.py --------------------------------------------------------------------------------