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Planning Arch

Author: Xuning Yang

"An Intention Guided Hierarchical Framework for Trajectory-based Teleoperation of Mobile Robots", ICRA 2021

Dependencies:

  • forward_arc_primitives
  • joystick_handler
  • motion_primitive_tree
  • cpp_utils, ros_utils, trajectory_utils
  • codetimer_catkin (optional, can remove)
  • collision_checker (not available, feel free to use your own mapping/collision checking pipeline)
  • planning_control_interface (for interfacing and publishing to the control pipeline)

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