├── .gitignore ├── README.md ├── figures ├── figure16a_RTD_rover_trial_187.pdf ├── figure16b_RTD_rover_trial_22.pdf ├── figure16c_RRT_rover_trial_187.pdf ├── figure16d_RRT_rover_trial_22.pdf ├── figure16e_NMPC_rover_trial_187.pdf ├── figure16f_NMPC_rover_trial_22.pdf ├── figure17a_segway_braking_distance.pdf ├── figure17b_rover_braking_distance.pdf ├── figure3a_rover_gx.pdf ├── figure3b_rover_gy.pdf ├── figure4a_segway_gx.pdf ├── figure4b_segway_gy.pdf ├── figure6a_lanechange.pdf ├── figure6b_lanechange.pdf ├── figure7a_decomp.pdf ├── figure7b_decomp.pdf ├── figure7c_decomp.pdf ├── figure7d_decomp.pdf ├── figure8a_rover_recon_vs_full.pdf ├── figure8b_rover_recon_vs_full.pdf ├── figure9_segway_braking.pdf ├── rover_time_lapse.jpg ├── scripts │ ├── figure16_rrtnmpc.m │ ├── figure16_rtd.m │ ├── figure17_braking_distance.m │ ├── figure3_gfunction_rover.m │ ├── figure4_gfunction_segway.m │ ├── figure6_rover_lane_change.m │ ├── figure7_rover_decomposition.m │ ├── figure8_rover_decomp_vs_full.m │ └── figure9_segway_braking_in_FRS.m └── segway_time_lapse.jpg ├── simulator_files ├── agent │ ├── RTD_agent_2D.m │ ├── RoverAWD.m │ ├── rover_PD_LLC.m │ ├── segway_PD_LLC.m │ └── segway_agent.m ├── planner │ ├── generic_RTD_planner.m │ ├── lane_HLP.m │ ├── roverGPOPShelper.m │ ├── rover_GPOPS_planner.m │ ├── rover_RRT_planner.m │ ├── rover_RTD_planner.m │ ├── rover_rrt_dynamics.m │ ├── segway_NMPC_planner.m │ ├── segway_RRT_planner.m │ ├── segway_RTD_planner.m │ ├── segway_generic_planner.m │ └── segway_grid_HLP.m └── worlds │ └── two_lane_road_static.m ├── step_1_desired_trajectories ├── README.md ├── data │ ├── rover_timing.mat │ └── segway_timing.mat ├── examples │ ├── example_rover_desired_and_braking_trajectory.m │ └── example_segway_desired_and_braking_trajectory.m ├── functions │ ├── convert_rover_desired_to_braking_traj.m │ ├── convert_segway_desired_to_braking_traj.m │ ├── get_segway_k_from_w_and_v.m │ ├── make_rover_braking_trajectory.m │ ├── make_rover_desired_trajectory.m │ ├── make_segway_braking_trajectory.m │ ├── make_segway_desired_trajectory.m │ ├── make_segway_random_yaw_rate.m │ ├── make_segway_spin_trajectory.m │ ├── rover_trajectory_producing_model.m │ └── segway_trajectory_producing_model.m └── scripts │ └── generate_segway_timing_data.m ├── step_2_error_function ├── README.md ├── data │ ├── rover │ │ ├── rover_xy_error_functions_T1.2_v0_0.0_to_0.8_delta0_-0.05_to_0.05_degx3_degy3.mat │ │ ├── rover_xy_error_functions_T1.2_v0_0.0_to_0.8_delta0_-0.15_to_-0.05_degx3_degy3.mat │ │ ├── rover_xy_error_functions_T1.2_v0_0.0_to_0.8_delta0_-0.30_to_-0.15_degx3_degy3.mat │ │ ├── rover_xy_error_functions_T1.2_v0_0.0_to_0.8_delta0_-0.50_to_-0.30_degx3_degy3.mat │ │ ├── rover_xy_error_functions_T1.2_v0_0.0_to_0.8_delta0_0.05_to_0.15_degx3_degy3.mat │ │ ├── rover_xy_error_functions_T1.2_v0_0.0_to_0.8_delta0_0.15_to_0.30_degx3_degy3.mat │ │ ├── rover_xy_error_functions_T1.2_v0_0.0_to_0.8_delta0_0.30_to_0.50_degx3_degy3.mat │ │ ├── rover_xy_error_functions_T1.5_v0_0.8_to_1.5_delta0_-0.05_to_0.05_degx3_degy3.mat │ │ ├── rover_xy_error_functions_T1.5_v0_0.8_to_1.5_delta0_-0.15_to_-0.05_degx3_degy3.mat │ │ ├── rover_xy_error_functions_T1.5_v0_0.8_to_1.5_delta0_-0.30_to_-0.15_degx3_degy3.mat │ │ ├── rover_xy_error_functions_T1.5_v0_0.8_to_1.5_delta0_-0.50_to_-0.30_degx3_degy3.mat │ │ ├── rover_xy_error_functions_T1.5_v0_0.8_to_1.5_delta0_0.05_to_0.15_degx3_degy3.mat │ │ ├── rover_xy_error_functions_T1.5_v0_0.8_to_1.5_delta0_0.15_to_0.30_degx3_degy3.mat │ │ ├── rover_xy_error_functions_T1.5_v0_0.8_to_1.5_delta0_0.30_to_0.50_degx3_degy3.mat │ │ ├── rover_xy_error_functions_T1.5_v0_1.5_to_2.2_delta0_-0.05_to_0.05_degx3_degy3.mat │ │ ├── rover_xy_error_functions_T1.5_v0_1.5_to_2.2_delta0_-0.15_to_-0.05_degx3_degy3.mat │ │ ├── rover_xy_error_functions_T1.5_v0_1.5_to_2.2_delta0_-0.30_to_-0.15_degx3_degy3.mat │ │ ├── rover_xy_error_functions_T1.5_v0_1.5_to_2.2_delta0_-0.50_to_-0.30_degx3_degy3.mat │ │ ├── rover_xy_error_functions_T1.5_v0_1.5_to_2.2_delta0_0.05_to_0.15_degx3_degy3.mat │ │ ├── rover_xy_error_functions_T1.5_v0_1.5_to_2.2_delta0_0.15_to_0.30_degx3_degy3.mat │ │ └── rover_xy_error_functions_T1.5_v0_1.5_to_2.2_delta0_0.30_to_0.50_degx3_degy3.mat │ ├── segway_error_functions_v_0_0.0_to_0.5.mat │ ├── segway_error_functions_v_0_0.5_to_1.0.mat │ └── segway_error_functions_v_0_1.0_to_1.5.mat ├── examples │ └── example_rover_track_desired_and_braking.m ├── functions │ ├── fit_bounding_polynomial_from_samples.m │ └── get_t_f_from_v_0_for_segway.m └── scripts │ ├── compute_tracking_error_function_for_segway.m │ └── compute_xy_tracking_error_function_for_rover.m ├── step_3_FRS_computation ├── README.md ├── data │ ├── rover_decomp │ │ ├── rover_FRS_xy_T1.25_deg8_v0_0.0_to_0.8_delta0_-0.05_to_0.05_27-Mar-2020.mat │ │ ├── rover_FRS_xy_T1.25_deg8_v0_0.0_to_0.8_delta0_-0.15_to_-0.05_27-Mar-2020.mat │ │ ├── rover_FRS_xy_T1.25_deg8_v0_0.0_to_0.8_delta0_-0.30_to_-0.15_27-Mar-2020.mat │ │ ├── rover_FRS_xy_T1.25_deg8_v0_0.0_to_0.8_delta0_-0.50_to_-0.30_27-Mar-2020.mat │ │ ├── rover_FRS_xy_T1.25_deg8_v0_0.0_to_0.8_delta0_0.05_to_0.15_27-Mar-2020.mat │ │ ├── rover_FRS_xy_T1.25_deg8_v0_0.0_to_0.8_delta0_0.15_to_0.30_27-Mar-2020.mat │ │ ├── rover_FRS_xy_T1.25_deg8_v0_0.0_to_0.8_delta0_0.30_to_0.50_27-Mar-2020.mat │ │ ├── rover_FRS_xy_T1.5_deg8_v0_0.8_to_1.5_delta0_-0.05_to_0.05_27-Mar-2020.mat │ │ ├── rover_FRS_xy_T1.5_deg8_v0_0.8_to_1.5_delta0_-0.15_to_-0.05_27-Mar-2020.mat │ │ ├── rover_FRS_xy_T1.5_deg8_v0_0.8_to_1.5_delta0_-0.30_to_-0.15_26-Mar-2020.mat │ │ ├── rover_FRS_xy_T1.5_deg8_v0_0.8_to_1.5_delta0_-0.50_to_-0.30_26-Mar-2020.mat │ │ ├── rover_FRS_xy_T1.5_deg8_v0_0.8_to_1.5_delta0_0.05_to_0.15_26-Mar-2020.mat │ │ ├── rover_FRS_xy_T1.5_deg8_v0_0.8_to_1.5_delta0_0.15_to_0.30_26-Mar-2020.mat │ │ ├── rover_FRS_xy_T1.5_deg8_v0_0.8_to_1.5_delta0_0.30_to_0.50_26-Mar-2020.mat │ │ ├── rover_FRS_xy_T1.5_deg8_v0_1.5_to_2.2_delta0_-0.05_to_0.05_26-Mar-2020.mat │ │ ├── rover_FRS_xy_T1.5_deg8_v0_1.5_to_2.2_delta0_-0.15_to_-0.05_26-Mar-2020.mat │ │ ├── rover_FRS_xy_T1.5_deg8_v0_1.5_to_2.2_delta0_-0.30_to_-0.15_26-Mar-2020.mat │ │ ├── rover_FRS_xy_T1.5_deg8_v0_1.5_to_2.2_delta0_-0.50_to_-0.30_26-Mar-2020.mat │ │ ├── rover_FRS_xy_T1.5_deg8_v0_1.5_to_2.2_delta0_0.05_to_0.15_26-Mar-2020.mat │ │ ├── rover_FRS_xy_T1.5_deg8_v0_1.5_to_2.2_delta0_0.15_to_0.30_26-Mar-2020.mat │ │ └── rover_FRS_xy_T1.5_deg8_v0_1.5_to_2.2_delta0_0.30_to_0.50_26-Mar-2020.mat │ ├── rover_reconstructed │ │ ├── mirrored_rover_reconstructed_deg10_frsdeg8_T1.25_v0_0.0_to_0.8_delta0_-0.05_to_0.05.mat │ │ ├── mirrored_rover_reconstructed_deg10_frsdeg8_T1.25_v0_0.0_to_0.8_delta0_-0.15_to_-0.05.mat │ │ ├── mirrored_rover_reconstructed_deg10_frsdeg8_T1.25_v0_0.0_to_0.8_delta0_-0.30_to_-0.15.mat │ │ ├── mirrored_rover_reconstructed_deg10_frsdeg8_T1.25_v0_0.0_to_0.8_delta0_-0.50_to_-0.30.mat │ │ ├── mirrored_rover_reconstructed_deg10_frsdeg8_T1.25_v0_0.0_to_0.8_delta0_0.05_to_0.15.mat │ │ ├── mirrored_rover_reconstructed_deg10_frsdeg8_T1.25_v0_0.0_to_0.8_delta0_0.15_to_0.30.mat │ │ ├── mirrored_rover_reconstructed_deg10_frsdeg8_T1.25_v0_0.0_to_0.8_delta0_0.30_to_0.50.mat │ │ ├── mirrored_rover_reconstructed_deg10_frsdeg8_T1.5_v0_0.8_to_1.5_delta0_-0.05_to_0.05.mat │ │ ├── mirrored_rover_reconstructed_deg10_frsdeg8_T1.5_v0_0.8_to_1.5_delta0_-0.15_to_-0.05.mat │ │ ├── mirrored_rover_reconstructed_deg10_frsdeg8_T1.5_v0_0.8_to_1.5_delta0_-0.30_to_-0.15.mat │ │ ├── mirrored_rover_reconstructed_deg10_frsdeg8_T1.5_v0_0.8_to_1.5_delta0_-0.50_to_-0.30.mat │ │ ├── mirrored_rover_reconstructed_deg10_frsdeg8_T1.5_v0_0.8_to_1.5_delta0_0.05_to_0.15.mat │ │ ├── mirrored_rover_reconstructed_deg10_frsdeg8_T1.5_v0_0.8_to_1.5_delta0_0.15_to_0.30.mat │ │ ├── mirrored_rover_reconstructed_deg10_frsdeg8_T1.5_v0_0.8_to_1.5_delta0_0.30_to_0.50.mat │ │ ├── mirrored_rover_reconstructed_deg10_frsdeg8_T1.5_v0_1.5_to_2.2_delta0_-0.05_to_0.05.mat │ │ ├── mirrored_rover_reconstructed_deg10_frsdeg8_T1.5_v0_1.5_to_2.2_delta0_-0.15_to_-0.05.mat │ │ ├── mirrored_rover_reconstructed_deg10_frsdeg8_T1.5_v0_1.5_to_2.2_delta0_-0.30_to_-0.15.mat │ │ ├── mirrored_rover_reconstructed_deg10_frsdeg8_T1.5_v0_1.5_to_2.2_delta0_-0.50_to_-0.30.mat │ │ ├── mirrored_rover_reconstructed_deg10_frsdeg8_T1.5_v0_1.5_to_2.2_delta0_0.05_to_0.15.mat │ │ ├── mirrored_rover_reconstructed_deg10_frsdeg8_T1.5_v0_1.5_to_2.2_delta0_0.15_to_0.30.mat │ │ ├── mirrored_rover_reconstructed_deg10_frsdeg8_T1.5_v0_1.5_to_2.2_delta0_0.30_to_0.50.mat │ │ ├── rover_reconstructed_deg10_frsdeg8_T1.25_v0_0.0_to_0.8_delta0_-0.05_to_0.05.mat │ │ ├── rover_reconstructed_deg10_frsdeg8_T1.25_v0_0.0_to_0.8_delta0_-0.15_to_-0.05.mat │ │ ├── rover_reconstructed_deg10_frsdeg8_T1.25_v0_0.0_to_0.8_delta0_-0.30_to_-0.15.mat │ │ ├── rover_reconstructed_deg10_frsdeg8_T1.25_v0_0.0_to_0.8_delta0_-0.50_to_-0.30.mat │ │ ├── rover_reconstructed_deg10_frsdeg8_T1.25_v0_0.0_to_0.8_delta0_0.05_to_0.15.mat │ │ ├── rover_reconstructed_deg10_frsdeg8_T1.25_v0_0.0_to_0.8_delta0_0.15_to_0.30.mat │ │ ├── rover_reconstructed_deg10_frsdeg8_T1.25_v0_0.0_to_0.8_delta0_0.30_to_0.50.mat │ │ ├── rover_reconstructed_deg10_frsdeg8_T1.5_v0_0.8_to_1.5_delta0_-0.05_to_0.05.mat │ │ ├── rover_reconstructed_deg10_frsdeg8_T1.5_v0_0.8_to_1.5_delta0_-0.15_to_-0.05.mat │ │ ├── rover_reconstructed_deg10_frsdeg8_T1.5_v0_0.8_to_1.5_delta0_-0.30_to_-0.15.mat │ │ ├── rover_reconstructed_deg10_frsdeg8_T1.5_v0_0.8_to_1.5_delta0_-0.50_to_-0.30.mat │ │ ├── rover_reconstructed_deg10_frsdeg8_T1.5_v0_0.8_to_1.5_delta0_0.05_to_0.15.mat │ │ ├── rover_reconstructed_deg10_frsdeg8_T1.5_v0_0.8_to_1.5_delta0_0.15_to_0.30.mat │ │ ├── rover_reconstructed_deg10_frsdeg8_T1.5_v0_0.8_to_1.5_delta0_0.30_to_0.50.mat │ │ ├── rover_reconstructed_deg10_frsdeg8_T1.5_v0_1.5_to_2.2_delta0_-0.05_to_0.05.mat │ │ ├── rover_reconstructed_deg10_frsdeg8_T1.5_v0_1.5_to_2.2_delta0_-0.15_to_-0.05.mat │ │ ├── rover_reconstructed_deg10_frsdeg8_T1.5_v0_1.5_to_2.2_delta0_-0.30_to_-0.15.mat │ │ ├── rover_reconstructed_deg10_frsdeg8_T1.5_v0_1.5_to_2.2_delta0_-0.50_to_-0.30.mat │ │ ├── rover_reconstructed_deg10_frsdeg8_T1.5_v0_1.5_to_2.2_delta0_0.05_to_0.15.mat │ │ ├── rover_reconstructed_deg10_frsdeg8_T1.5_v0_1.5_to_2.2_delta0_0.15_to_0.30.mat │ │ └── rover_reconstructed_deg10_frsdeg8_T1.5_v0_1.5_to_2.2_delta0_0.30_to_0.50.mat │ ├── rover_scaling │ │ ├── rover_FRS_xy_scaling_T1.2_v0_0.0_to_0.8_delta0_-0.05_to_0.05.mat │ │ ├── rover_FRS_xy_scaling_T1.2_v0_0.0_to_0.8_delta0_-0.15_to_-0.05.mat │ │ ├── rover_FRS_xy_scaling_T1.2_v0_0.0_to_0.8_delta0_-0.30_to_-0.15.mat │ │ ├── rover_FRS_xy_scaling_T1.2_v0_0.0_to_0.8_delta0_-0.50_to_-0.30.mat │ │ ├── rover_FRS_xy_scaling_T1.2_v0_0.0_to_0.8_delta0_0.05_to_0.15.mat │ │ ├── rover_FRS_xy_scaling_T1.2_v0_0.0_to_0.8_delta0_0.15_to_0.30.mat │ │ ├── rover_FRS_xy_scaling_T1.2_v0_0.0_to_0.8_delta0_0.30_to_0.50.mat │ │ ├── rover_FRS_xy_scaling_T1.5_v0_0.8_to_1.5_delta0_-0.05_to_0.05.mat │ │ ├── rover_FRS_xy_scaling_T1.5_v0_0.8_to_1.5_delta0_-0.15_to_-0.05.mat │ │ ├── rover_FRS_xy_scaling_T1.5_v0_0.8_to_1.5_delta0_-0.30_to_-0.15.mat │ │ ├── rover_FRS_xy_scaling_T1.5_v0_0.8_to_1.5_delta0_-0.50_to_-0.30.mat │ │ ├── rover_FRS_xy_scaling_T1.5_v0_0.8_to_1.5_delta0_0.05_to_0.15.mat │ │ ├── rover_FRS_xy_scaling_T1.5_v0_0.8_to_1.5_delta0_0.15_to_0.30.mat │ │ ├── rover_FRS_xy_scaling_T1.5_v0_0.8_to_1.5_delta0_0.30_to_0.50.mat │ │ ├── rover_FRS_xy_scaling_T1.5_v0_1.5_to_2.2_delta0_-0.05_to_0.05.mat │ │ ├── rover_FRS_xy_scaling_T1.5_v0_1.5_to_2.2_delta0_-0.15_to_-0.05.mat │ │ ├── rover_FRS_xy_scaling_T1.5_v0_1.5_to_2.2_delta0_-0.30_to_-0.15.mat │ │ ├── rover_FRS_xy_scaling_T1.5_v0_1.5_to_2.2_delta0_-0.50_to_-0.30.mat │ │ ├── rover_FRS_xy_scaling_T1.5_v0_1.5_to_2.2_delta0_0.05_to_0.15.mat │ │ ├── rover_FRS_xy_scaling_T1.5_v0_1.5_to_2.2_delta0_0.15_to_0.30.mat │ │ └── rover_FRS_xy_scaling_T1.5_v0_1.5_to_2.2_delta0_0.30_to_0.50.mat │ ├── rover_xy_FRS_full_T1.5_deg6_v0_0.8_to_1.5_delta0_-0.05_to_0.05.mat │ └── segway │ │ ├── segway_FRS_deg_10_v_0_0.0_to_0.5.mat │ │ ├── segway_FRS_deg_10_v_0_0.5_to_1.0.mat │ │ ├── segway_FRS_deg_10_v_0_1.0_to_1.5.mat │ │ ├── segway_FRS_deg_12_v_0_0.0_to_0.5.mat │ │ ├── segway_FRS_deg_12_v_0_0.5_to_1.0.mat │ │ ├── segway_FRS_deg_12_v_0_1.0_to_1.5.mat │ │ ├── segway_FRS_deg_6_v_0_0.0_to_0.5.mat │ │ ├── segway_FRS_deg_6_v_0_0.5_to_1.0.mat │ │ ├── segway_FRS_deg_6_v_0_1.0_to_1.5.mat │ │ ├── segway_FRS_deg_8_v_0_0.0_to_0.5.mat │ │ ├── segway_FRS_deg_8_v_0_0.5_to_1.0.mat │ │ ├── segway_FRS_deg_8_v_0_1.0_to_1.5.mat │ │ ├── segway_FRS_scaling_v_0_0.0_to_0.5.mat │ │ ├── segway_FRS_scaling_v_0_0.5_to_1.0.mat │ │ └── segway_FRS_scaling_v_0_1.0_to_1.5.mat ├── functions │ ├── compute_FRS.m │ ├── get_segway_FRS_from_v_0.m │ ├── get_state_scaling_factors.m │ └── mirror_rover_frs.m └── scripts │ ├── compute_rover_FRS_full.m │ ├── compute_rover_FRS_xy.m │ ├── compute_rover_distance_scale_xy.m │ ├── compute_segway_FRS.m │ ├── compute_segway_distance_scale.m │ ├── frs_program_size_estimator.m │ └── rover_frs_reconstruction.m ├── step_4_online_planning ├── README.md ├── examples │ ├── run_rover_NMPC_simulation.m │ ├── run_rover_RRT_simulation.m │ ├── run_rover_RTD_simulation.m │ ├── run_segway_NMPC_simulation.m │ ├── run_segway_RRT_simulation.m │ └── run_segway_RTD_simulation.m ├── functions │ ├── check_points_in_halfplane_obstacles.m │ ├── convert_box_obstacles_to_halfplanes.m │ ├── get_segway_average_speed.m │ ├── rover_cost.m │ ├── rover_cost_grad.m │ ├── segway_cost.m │ ├── segway_cost_for_fmincon.m │ ├── segway_cost_grad.m │ └── segway_nonlcon_for_fmincon.m └── scripts │ ├── plot_polygon_for_obstacle_filtering.m │ ├── precompute_rover_cost_function.m │ └── precompute_segway_cost_function.m ├── step_5_comparisons ├── README.md ├── experiment_1 │ ├── README.MD │ ├── experiment_1_rover.m │ ├── experiment_1_segway.m │ ├── rover_data │ │ ├── README.MD │ │ └── rover_simulationIPOPTinfo.txt │ └── rover_simulationIPOPTinfo.txt ├── experiment_2 │ ├── README.md │ ├── experiment_2_rover.m │ ├── experiment_2_segway.m │ └── segway_data │ │ └── README.md ├── experiment_3 │ ├── README.md │ ├── experiment_3_rover.m │ ├── experiment_3_segway.m │ ├── experiment_3b_rover.m │ └── segway_data │ │ └── README.md ├── experiment_worlds │ ├── rover_simulation_worlds.mat │ ├── rover_simulation_worlds_3b.mat │ └── segway_simulation_worlds.mat ├── functionSignatures.json ├── generate_rover_simulation_worlds.m ├── generate_segway_simulation_worlds.m └── inspect_experiment_results.m └── utility ├── combinator ├── combinator.m ├── cumsumall.cpp └── cumsumall.m ├── geometry ├── FRS_to_world.m ├── buffer_box_obstacles.m ├── buffer_polygon_obstacles.m ├── compute_point_spacings.m ├── crop_points_outside_region.m ├── discretizeStraightBox.m ├── dist_along_polyline.m ├── interpolate_polyline_with_spacing.m ├── local_to_world.m ├── world_to_FRS.m └── world_to_local.m ├── get_5point_derivative.m ├── is_RTD_on_path.m ├── polynomial_evaluation ├── cat_polynomial_structures.m ├── evaluate_FRS_polynomial_on_obstacle_points.m ├── evaluate_constraint_polynomial.m ├── evaluate_constraint_polynomial_gradient.m ├── get_FRS_polynomial_structure.m ├── get_constraint_polynomial_gradient.m ├── matchsize_of_polynomial_structure.m └── old │ ├── decompose_w_polynomial.m │ ├── diff_wk_wrt_k.m │ ├── eval_J.m │ ├── eval_w.m │ └── sub_z_into_w.m ├── polytopes_2017_10_04_v1.9 ├── addBounds.m ├── intersectionHull.m ├── lcon2vert.m ├── license.txt ├── qlcon2vert.m ├── separateBounds.m ├── unionHull.m └── vert2lcon.m ├── randRange.m ├── segway_symbolic_trajectory ├── generate_segway_symbolic_trajectory.m ├── segway_symbolic_model.m ├── segway_symbolic_traj.m └── segway_symbolic_traj_data.mat ├── spotless ├── boxMoments.m ├── diff_sparse.m ├── dmsubs_sparse.m ├── generate_rip_monomials.m ├── inverseBoxMoments.m 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