├── .gitattributes ├── .gitignore ├── LICENSE ├── README.md ├── README.tex.md ├── check_dependencies.m ├── simulator_files ├── agent │ ├── turtlebot_LLC.m │ ├── turtlebot_PD_LLC.m │ ├── turtlebot_agent.m │ └── turtlebot_pursuit_LLC.m └── planner │ ├── my_turtlebot_RTD_planner.m │ ├── turtlebot_RRT_planner.m │ ├── turtlebot_RRT_star_planner.m │ ├── turtlebot_RTD_planner_static.m │ └── turtlebot_RTD_planner_static_subclass.m ├── step_1_desired_trajectories ├── README.md ├── README.tex.md ├── data │ └── turtlebot_timing.mat ├── examples │ ├── step_1_ex_1_desired_trajectory.m │ ├── step_1_ex_2_trajectory_tracking.m │ └── step_1_ex_3_braking_trajectory.m ├── functions │ ├── get_k_from_w_and_v.m │ ├── get_t_f_from_v_0.m │ ├── get_t_stop_from_v.m │ ├── get_turtlebot_braking_scale_at_time.m │ ├── make_turtlebot_braking_trajectory.m │ ├── make_turtlebot_desired_trajectory.m │ └── turtlebot_trajectory_producing_model.m ├── images │ ├── step_1.5_img_1.png │ ├── step_1.5_img_2.png │ ├── step_1_ex_1_img_1.png │ ├── step_1_ex_2_img_1.png │ └── step_1_ex_3_img_1.png ├── scripts │ ├── step_1_inspect_braking_distance_vs_initial_speed.m │ └── step_1_validate_t_f.m └── tex │ ├── 004273cb240d969e5bce673799ff9da5.svg │ ├── 160b55943c56feaa02bd7a2287e2b41f.svg │ ├── 27e556cf3caa0673ac49a8f0de3c73ca.svg │ ├── 2d7a24fdab5e4f1b25998b6dde017ede.svg │ ├── 2db35060f2b6f146752157657cfb5d5a.svg │ ├── 332cc365a4987aacce0ead01b8bdcc0b.svg │ ├── 402ff5fdff7e663170c8b257765739e7.svg │ ├── 46e582aec9cd4cb9b0aef679b516a387.svg │ ├── 477a717e18587a5e8605780ca167c322.svg │ ├── 4a7d1212c2662d4bee8bf051d1f80f20.svg │ ├── 506ecb28d73537baca60cb655c20dc3f.svg │ ├── 59edb4731438111eb9b889285d97715b.svg │ ├── 5ae1e561ec81f97d93ed9df0f76cab27.svg │ ├── 63e302efe61ebe533fe9bf97f51c439a.svg │ ├── 654de0324269221927923d504c5b6713.svg │ ├── 6c4adbc36120d62b98deef2a20d5d303.svg │ ├── 6d46dad425660c882873584aa5b756b3.svg │ ├── 7392a8cd69b275fa1798ef94c839d2e0.svg │ ├── 742bf637e0c64b5b92d7f44f4570186a.svg │ ├── 83c7347fe075f7e3998685dff1f80070.svg │ ├── 8dd6d948c7b7a6bef7250f4b3437d094.svg │ ├── 8f1dd0bcbdbe44be17955936015724d7.svg │ ├── 91644a9f56940d6f8d879296fd1a54ba.svg │ ├── a362f086bf1a268c373d882b17f36d6b.svg │ ├── a417f6050fede18cdce43b0f0bc57919.svg │ ├── a4393394a1393d0cef2a056237cdbae4.svg │ ├── a58aa8b39e323167ed70b4ca0562c7f8.svg │ ├── a8ebf8c468236800b8ed78d42ddbfa57.svg │ ├── a903f939f6fb649debe1561ecbb18c66.svg │ ├── aa90653a26bc63b138fb304972d81589.svg │ ├── ae4fb5973f393577570881fc24fc2054.svg │ ├── af6c80e33a666ccbd4ad31540ac57c74.svg │ ├── b58de9e05bf7116bb3dc3829ccdef6f7.svg │ ├── b7fd75d9e63fb571e34c17e52105fb14.svg │ ├── bab17f1c90dbcda2fd355c88f6baacb1.svg │ ├── bbe77024f3f059a59d705d15a7827e6c.svg │ ├── bf4645e786baf289adfe68fe608d3e69.svg │ ├── c0213ff9cc036054ae01949a656bca82.svg │ ├── c0fcaca6a19c64c679afd966e48da128.svg │ ├── c3cd2c7b7f2c9024a22d57bd8af387c0.svg │ ├── c4e54ba264a1e2224bc32fc1952f8706.svg │ ├── ce0b32d8f36ea304a17eeaaffd9ff920.svg │ ├── d5ce7af04a5f115d28ff733f2c68ecc4.svg │ ├── deceeaf6940a8c7a5a02373728002b0f.svg │ ├── e18b24c87a7c52fd294215d16b42a437.svg │ ├── e520572846b780b6686ac4a5b2db01fa.svg │ ├── eb4513540706477e80b47eb048eeaa9d.svg │ └── f0490d8095c97a04da6915408d44616b.svg ├── step_2_error_function ├── README.md ├── README.tex.md ├── data │ ├── turtlebot_error_functions_v_0_0.0_to_0.5.mat │ ├── turtlebot_error_functions_v_0_0.5_to_1.0.mat │ └── turtlebot_error_functions_v_0_1.0_to_1.5.mat ├── examples │ ├── step_2_ex_1_tracking_error_single_traj.m │ └── step_2_ex_2_tracking_error_single_init_speed.m ├── images │ ├── step_2.2_img_1.png │ ├── step_2_ex_1_img_1.png │ ├── step_2_ex_1_img_2.png │ └── step_2_ex_2_img_1.png ├── scripts │ ├── step_2_compute_tracking_error_function.m │ └── step_2_inspect_turtlebot_desired_vs_braking_traj.m └── tex │ ├── 01909b179a6e1f6050dd426d4f7195e4.svg │ ├── 0eea379cc2ca8cf230beb920cb2d9e64.svg │ ├── 1a90eb0e181463396ea8d4e475657218.svg │ ├── 1fe5a7300ead2509399189fe2979594e.svg │ ├── 27e556cf3caa0673ac49a8f0de3c73ca.svg │ ├── 332cc365a4987aacce0ead01b8bdcc0b.svg │ ├── 35569fab70bcbeac8b22b2fd3c4533cd.svg │ ├── 3cf4fbd05970446973fc3d9fa3fe3c41.svg │ ├── 3e84cf4a05e7dde39c784cc7a2a632ab.svg │ ├── 408dd2a1a0db44417e1546d7501f069c.svg │ ├── 45f39df0d0bc9f2eb393f4c0f076aa0d.svg │ ├── 469bfc52df7f220df76c05b4b2a9badb.svg │ ├── 4f416c18f7648d12704f5d01199aea2c.svg │ ├── 54dcb7a27315af0a7049460c7fc60e36.svg │ ├── 5ae1e561ec81f97d93ed9df0f76cab27.svg │ ├── 6bac6ec50c01592407695ef84f457232.svg │ ├── 6c4adbc36120d62b98deef2a20d5d303.svg │ ├── 751613a1a4da78db7647a339cbf261c3.svg │ ├── 75aa7badb1a728bd79eb5ac70a314369.svg │ ├── 7fafceb198a08f911de62716356f2a63.svg │ ├── 8bd7e348c9058d16331f871b3632f453.svg │ ├── 8dd6d948c7b7a6bef7250f4b3437d094.svg │ ├── ae4fb5973f393577570881fc24fc2054.svg │ ├── b425862078769aec0d580a5f80bc683d.svg │ ├── c263eac0ba2e77d4cf1a3908e06c213a.svg │ ├── c4700c9a28332f587a2742c1811a32ff.svg │ ├── cbfb1b2a33b28eab8a3e59464768e810.svg │ ├── d0231ad6c4ea2c12b90e4e356a5c0628.svg │ ├── da19af0347f21815ec727c7e4ba63372.svg │ ├── deceeaf6940a8c7a5a02373728002b0f.svg │ ├── df504b9c05ddd4b0cec0f8eee75d215d.svg │ ├── e09e5afacd3ffe83b9366c06552ac2ed.svg │ ├── ee06addff870fbf13ba2fc1625c447e4.svg │ ├── f4102f6671dc35e7ae467aa61bf1bbd3.svg │ └── f75ef0016eb9e3badc61cfc680ce157f.svg ├── step_3_FRS_computation ├── README.md ├── README.tex.md ├── data │ ├── reach_sets │ │ ├── turtlebot_FRS_deg_10_v_0_0.0_to_0.5.mat │ │ ├── turtlebot_FRS_deg_10_v_0_0.5_to_1.0.mat │ │ ├── turtlebot_FRS_deg_10_v_0_1.0_to_1.5.mat │ │ ├── turtlebot_FRS_deg_12_v_0_0.0_to_0.5.mat │ │ ├── turtlebot_FRS_deg_12_v_0_0.5_to_1.0.mat │ │ ├── turtlebot_FRS_deg_12_v_0_1.0_to_1.5.mat │ │ ├── turtlebot_FRS_deg_4_v_0_0.0_to_0.5.mat │ │ ├── turtlebot_FRS_deg_4_v_0_0.5_to_1.0.mat │ │ ├── turtlebot_FRS_deg_4_v_0_1.0_to_1.5.mat │ │ ├── turtlebot_FRS_deg_6_v_0_0.0_to_0.5.mat │ │ ├── turtlebot_FRS_deg_6_v_0_0.5_to_1.0.mat │ │ ├── turtlebot_FRS_deg_6_v_0_1.0_to_1.5.mat │ │ ├── turtlebot_FRS_deg_8_v_0_0.0_to_0.5.mat │ │ ├── turtlebot_FRS_deg_8_v_0_0.5_to_1.0.mat │ │ └── turtlebot_FRS_deg_8_v_0_1.0_to_1.5.mat │ └── scaling │ │ ├── turtlebot_FRS_scaling_v_0_0.0_to_0.5.mat │ │ ├── turtlebot_FRS_scaling_v_0_0.5_to_1.0.mat │ │ └── turtlebot_FRS_scaling_v_0_1.0_to_1.5.mat ├── examples │ ├── step_3_ex_1_FRS_with_fixed_traj_params.m │ ├── step_3_ex_2_visualize_turtlebot_FRS.m │ └── step_3_ex_3_inspect_FRS_conservatism.m ├── functions │ ├── get_FRS_from_v_0.m │ ├── get_v_0_range_from_v_0.m │ ├── plot_turtlebot_FRS_in_world_frame.m │ └── visualize_turtlebot_FRS.m ├── images │ ├── image_1_for_example_7.png │ ├── image_2_for_example_7.png │ ├── image_for_example_6.png │ ├── image_for_example_8.png │ ├── step_3_ex_1_img_1.png │ ├── step_3_ex_2_img_1.png │ └── step_3_ex_3_img_1.png ├── scripts │ ├── step_3_compute_distance_scale.m │ ├── step_3_compute_turtlebot_FRS.m │ └── step_3_verify_distance_scale.m └── tex │ ├── 02365d9a1eafb4fa93ec35acf8c9025d.svg │ ├── 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step_4_ex_1_map_obs_to_traj_params.m │ └── step_4_ex_2_trajectory_optimization.m ├── functions │ ├── compute_turtlebot_discretized_obs.m │ ├── compute_turtlebot_point_spacings.m │ ├── compute_turtlebot_trajopt_constraints.m │ ├── turtlebot_cost.m │ ├── turtlebot_cost_for_fmincon.m │ ├── turtlebot_cost_grad.m │ ├── turtlebot_nonlcon_for_fmincon.m │ └── turtlebot_symbolic_traj_prod_model.m ├── images │ ├── step_4_ex_1_img_1.png │ ├── step_4_ex_1_img_2.png │ └── step_4_ex_2_img_1.png ├── scripts │ ├── step_4_create_turtlebot_cost_function.m │ └── step_4_run_turtlebot_simulation.m └── tex │ ├── 07e2eb627d1f673638dca7bf9b879965.svg │ ├── 21fd4e8eecd6bdf1a4d3d6bd1fb8d733.svg │ ├── 274155ee3483dbb84753ce0180293402.svg │ ├── 297f41396e8158f6a9169cfb6d6d00a5.svg │ ├── 2aa485270dee077a664c5c167a652424.svg │ ├── 2b90bd95c73be2f030b51798e34e8adb.svg │ ├── 3bf25d9d50c08c7ec96446a7abb1c024.svg │ ├── 4707fcdfb70730be9ebd54bddaa0149f.svg │ ├── 4d1719a25e4b38db1fbea7ddf5f1a886.svg │ ├── 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d6ebaab75d0719c06a34784e25e82aff.svg │ └── f93ce33e511096ed626b4719d50f17d2.svg ├── step_5_extras ├── README.md ├── extra_1_simulator_overview │ └── README.md ├── extra_2_writing_an_RTD_planner │ ├── README.md │ └── extra_2_run_my_turtlebot_planner_simulation.m └── extra_3_writing_an_RRT_star_planner │ ├── README.md │ ├── run_turtlebot_simulation_RRT_star_planner.m │ └── testing_RRT_HLP.m └── tex ├── 07c7f89571adef4b18e8cc11b731ddc9.svg ├── 25ed12dcaee28c65f3775ebec576007f.svg ├── 27e556cf3caa0673ac49a8f0de3c73ca.svg ├── 2db35060f2b6f146752157657cfb5d5a.svg ├── 44bc9d542a92714cac84e01cbbb7fd61.svg ├── 562282b5face354edcd2f160fd3941e0.svg ├── 6c4adbc36120d62b98deef2a20d5d303.svg ├── 7392a8cd69b275fa1798ef94c839d2e0.svg ├── 7c74eeb32158ff7c4f67d191b95450fb.svg ├── 87181ad2b235919e0785dee664166921.svg ├── 97360c281b8665f62744f3f76afff426.svg ├── ae4fb5973f393577570881fc24fc2054.svg ├── bbe77024f3f059a59d705d15a7827e6c.svg ├── c0213ff9cc036054ae01949a656bca82.svg ├── 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