RoA (Region of Attraction)

Based on the paper

Ewerton Vieira, Edgar Granados, Aravind Sivaramakrishnan, Marcio Gameiro, Konstantin Mischaikow and Kostas E. Bekris. Morse Graphs: Topological Tools for Analyzing the Global Dynamics of Robot Controllers. (WAFR2022) https://arxiv.org/abs/2202.08383

Dependencies

Install CMGDB (Conley Morse Graph Database) https://github.com/marciogameiro/CMGDB

pip install CMGDB

and Install pyChomp (Conley homology project (python version))

pip install pychomp2

Documentation

Import RoA.py, CMGDB_util.py and Poset_E.py to run RoA (Region of Attractions) for the Morse graph obtained by CMGDB.

Example

To get started on how to run the code see the example.ipynb (Jupyter notebook).