this repository contains the code of the final project for the AMR course 22/23.

Group members:

Fabio Scaparro Patrizio Perugini Adriano Pacciarelli

Implementation of: R3T: "Rapidly-exploring Random Reachable Set Tree for Optimal Kinodynamic Planning of Nonlinear Hybrid Systems" and comparison with RRT and RG-RRT

see AMR_project.pdf