├── .gitignore ├── CMakeLists.txt ├── Thesis.pdf ├── add_obstacle ├── analysis ├── a_star_rrt_comparison │ ├── A.json │ ├── A.png │ ├── B.json │ ├── B.png │ ├── C.json │ ├── C.png │ ├── D.json │ ├── D.png │ ├── E.json │ ├── E.png │ ├── F.json │ ├── F.png │ ├── G.png │ ├── Robotic_Path_Planning___Summer_research_project_report.pdf │ ├── analysis.ipynb │ ├── len_all.png │ ├── len_each.png │ ├── oct_all.png │ ├── oct_each.png │ ├── rot_all.png │ ├── tests.png │ ├── time_all.png │ ├── time_each.png │ └── wpd_all.png ├── limited_vision │ ├── full-knownledge-no-replanning.png │ └── limited-vision-replanning.png ├── mp_optim │ ├── MPL_Optimization.ipynb │ ├── analysis.ipynb │ ├── mpls1.npy │ ├── mpls2.npy │ ├── mpls3.npy │ ├── mpls3.png │ ├── mpls4.npy │ ├── mpls4.png │ ├── mpls5.npy │ ├── mpls5.png │ ├── mpls6.npy │ ├── mpls6.png │ ├── save3.png │ ├── save4.png │ ├── save5.png │ └── save6.png ├── optim_time │ ├── analysis.ipynb │ ├── cpp.png │ ├── naive_vs_brent.png │ ├── time_1.png │ ├── time_2.png │ └── time_all.png ├── phi_theta_replanif │ ├── large_close.png │ ├── large_far.png │ ├── multiple_small.png │ ├── replanif.ipynb │ ├── small_close.png │ └── small_far.png ├── pos0_estim │ ├── acc_data1.npy │ ├── kalman.ipynb │ ├── linear.ipynb │ ├── plot_acc1.py │ ├── pos1.npy │ ├── pos1.png │ └── req1.npy └── traj_evaluate │ ├── bestLength.npy │ ├── evaluate.py │ ├── extractBestLength.py │ ├── extractLength.py │ ├── extractResults.py │ ├── launch.py │ ├── length6.npy │ ├── length_analysis.ipynb │ ├── lengths.png │ ├── save1_empty.npy │ ├── save1_failure.npy │ ├── save1_success.npy │ ├── save2.npy │ ├── save3.npy │ ├── save4.npy │ ├── save5.npy │ ├── save6.npy │ └── success_analysis.ipynb ├── bebop ├── config.yaml └── orb_vocab.dbow2 ├── bebop_controller.py ├── bebop_ctrl_state.py ├── best_path.py ├── config.rviz ├── evaluation ├── __init__.py └── path.py ├── global_planner.py ├── image_proc ├── incr_global_planner.py ├── launch ├── fly.launch ├── mapping.launch └── simulation.launch ├── loadMapDbOct ├── local_planner.py ├── logger.py ├── motion_primitive ├── __init__.py ├── motion_primitive.py ├── motion_primitive_library.py └── single_axis_trajectory.py ├── msg ├── BoundingBox.msg └── MotionPrimitive.msg ├── node ├── __init__.py ├── base_node.py ├── local_goal_node.py ├── logger_node.py ├── motion_primitive_node.py ├── octomap_node.py ├── offboard_node.py ├── path_utils.py ├── trajectory_sampler_node.py └── visualization_node.py ├── octomap_slicer.py ├── octomaps ├── big_forest.bt ├── forest0.bt ├── forest1.bt ├── forest2.bt ├── forest3.bt ├── forest4.bt ├── forest5.bt ├── forest6.bt ├── forest7.bt ├── forest8.bt ├── forest9.bt ├── maze.bt ├── test_zone.bt └── warehouse.bt ├── offset_poses ├── package.xml ├── planning ├── __init__.py ├── a_star.py ├── dummy.py ├── incr_phi_star.py ├── phi_star.py ├── rrt_star.py ├── smoothing.py ├── theta_star.py └── utils.py ├── readme.md ├── sampler.py ├── src ├── LocalPlanner.cpp ├── MotionPrimitive.cpp ├── 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