v80 · 2026-10-31

• Chapter 4 has a new section, Speed planning: the ST graph (§6), on how the robot slows and waits for people
  without leaving its path: the grid of time against distance along the path, the cost of each cell near a predicted
  person, the search for the cheapest speed profile, when it gives up and asks for a new path, and a worked encounter
  in which a person turns back toward the robot. The later sections of the chapter move up by one.
• Control → Response to agents now lists all four options with every controller and dims the ones it cannot use, with
  the reason when you hover or tap: with MPC, velocity obstacles and the reactive stop; with DWA or your own
  controller, everything but its own handling of people. Before, the row was missing for DWA and showed only two
  options for MPC.