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rmoan2
db-guided-mrmp
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fcc1044434dec624e9f86a91866083a649000276
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main
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protected
updated-place-grid
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Created with Raphaël 2.2.0
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Revised find_all_waiting_robots, queue iteration instead of recursion
main
main
Diversified rrt class
Do not use ego frame in MPC, use global frame throughout
put more params into settings file
Initial diversified RRT*
Centering grid added to cost
Merge branch 'main' of gitlab.engr.illinois.edu:rmoan2/db-guided-mrmp
add back in plotting
move reroute guide paths into its own function
if a robot is marked as not a part of a grid, skip it
move visualization functions to helper file
move some functions into utils/helpers file
delete comments, change variable names
better names for robot variables
add tree argument to multi path tracker class
add obstacle tolerance to the plan decoupled path function
fix path name in lib file
add a tolerance for obstacel intersection in klampt motion planner
get ref trajectory purely from guide path, instead of trying to use velocities
Merge branch 'main' of gitlab.engr.illinois.edu:rmoan2/db-guided-mrmp
use klampt motion planner to get decoupled paths
Grabs random key, idx and fetches solution
Parameter tuning file added
When turning the db solution into a continuous, first send robot to the first point from its solution
Merge branch 'updated-place-grid' into 'main'
Use one MPC for both single and multirobot
remove magic constants, improve the name of some variables
Fixed error with zero obstacles, main.py works
updated-place-g…
updated-place-grid
Cleaning up debugging print statements, removing unnecessary cmd line args
Rectangular obstacles added
Minor misc changes
robot-robot cost was not being computed correctly in multi mpc
add support for rectangular obstacles
Random generation of obstacle/robot/subgoals for testcases
Added obstacle / robot cell overlaps to the cost function
Passing libraries into advance function instead of assigning them as self variables because they cannot be a self var while using joblib (for parallelization).
remove old print statements
Constrain robot grid indices to be outside the range of obstacle grid indices
Adding number of obstacle cells to cost
Check against global x_mpc what finding waiting robots
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