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1. visibility-heuristic-path-planner visibility-heuristic-path-planner Public

   Highly efficient holistic 2D visibility solution for grid-based environments/maps (C++ and MATLAB). Extends to a planner.

   MATLAB 23 5

2. accelerated-RS-planner accelerated-RS-planner Public

   Freespace Reeds-Shepp planner that is an order of magnitude faster than OMPL's implementation with no compromise, no parallelization, and no multi-threading.

   C++ 12 3

3. visibility-based-marching visibility-based-marching Public

   VBM is an efficient exact wave propagation technique that has an O(n) compute and space complexity. Inherently produces globally optimal paths to all grid points. Solves several shortcomings of sta…

   C++ 10

4. underspecified-RS-planner underspecified-RS-planner Public

   Introduces and solves the under-specified Reeds-Shepp problem: find the vehicle orientation that results in the shortest path.

   C++ 4