Path Planning in Dynamic Environments with Adaptive Dimensionality

This repository maintains the code for the paper Path planning in Dynamic Environments with Adaptive Dimensionality published in the proceedings of the International Symposium on Combinatorial Search (SoCS) 2016. If you use this code, please cite the paper as follows:

@inproceedings{vemula2016path,
  title={Path Planning in Dynamic Environments with Adaptive Dimensionality},
  author={Vemula, Anirudh and Muelling, Katharina and Oh, Jean},
  booktitle={Ninth Annual Symposium on Combinatorial Search},
  year={2016}
}

How to use this code

Dependencies

1. ROS Indigo (with catkin, std_msgs, tf packages installed)
2. sbpl package (installation instructions can be found here)

Building

1. Clone the repo into your catkin workspace
2. Go to the catkin workspace root directory and then run catkin_make

Running the executable

1. The executable can be run using rosrun sbpl_dynamic_adaptive_planner test_ad_exact [env_file] [motprim_file] [dynObsFile]
2. For example, in the root directory it can be run as rosrun sbpl_dynamic_adaptive_planner test_ad_exact env/test1_indoor.exp env/unicycle_noturninplace.mprim env/dynObs1_indoor_30.dob
3. You can visualize the resulting path and the environment by running RViz using the rviz/visualization.rviz config file

Maintained by : Anirudh Vemula