This code supplements the OJ-CSYS 2023 Special Section submission ,"Abstraction-based Planning for Uncertainty-aware Legged Navigation."
This code requires jax (https://github.com/google/jax) as a dependency. For computational efficiency, a machine with a CUDA-enabled GPU is recommended.
The results of the reach-avoid case study are obtained by running the python file "ReachAvoid_CaseStudy.py" and the results of the checkpoint case study are obtained by running the python file "Checkpoint_CaseStudy.py".