1. Graph search
- Breadth first search
- Depth first search
- Iterative Deepening
2. Informed graph search
- Uniform cost search
- Astar
3. Dynamic Programming
- Value iteration
- To Do: Debug value iteration
- Policy iteration
4. Steering
- Dubin's Paths
- To Do: Add LRL and RLR curves, Reeds-Shepp curves
5. Collision Checking
- Point-Circle Collision Checking Procedure
- Point-Triangle Collision Checking Procedure
- Point-Polygon Collision Checking Procedure
- Segment-Circle Collision Checking Procedure
- Segment-Triangle Collision Checking Procedure
- Segment-Polygon Collision Checking Procedure
- Optimization via Axis-Aligned Bounding Boxes
- Collision Checking Procedure for Circle-shaped Robot
- Collision Checking via Occupancy Grid
- Collision Checking using R-Trees
- Collision Checking in Robot Frame
- Collision Checking via Safety Certificates
6. Optimization (Pulp)
Mixed integer linear program optimizing a voyage plan of a pirate ship passing several islands:
- Minimum nights
- Maxmize crew size
- Miinimize total sailing time
- Minimize total L1 norm
- Minimize maximum individual sailing time
constraint to:
- Voyage order
- Minimum crew size
- Maximum crew size
- Maximum duration
- Maximum L1 norm
7. Driving Games
Planning and control stack for a car with simulation interface: https://github.com/idsc-frazzoli/dg-commons.
- Planning with RRT
- Control with pure-pursuit to get the steering angle reference and PID to track steering and speed reference
- To do: debug multiplayer
08_multiplayer.mp4
