Overview
Kinodynamic Trajectory Planner
Spline-based, minimum time, constant snap trajectory generator. It applies to any robot with decoupled dynamics (or differencially flat).
Whitepaper: Alexandre Boeuf, Juan Cortes, Rachid Alami, Thierry Simeon. Enhancing sampling-based kinodynamic motion planning for quadrotors. IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2015, Hamburg, Germany. 2015.
Latest news
Members
Developer: Anthony Mallet, Antonio Franchi, Aurélie Clodic, Christelle Ecrepont, Daniel Sidobre, Florent Lamiraux, François Félix Ingrand, Gianluca Corsini, Guilhem Saurel, Joseph Mirabel, Jérôme Manhes, Malik Ghallab, Marco Cognetti, Marco Tognon, Martin Jacquet, Matthieu Herrb, Olivier Stasse, Patrick Danes, Quentin Sable, Simon Lacroix, robots