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@sjschlapbach sjschlapbach released this 24 Feb 16:57
· 30 commits to dev since this release
v1.1.0
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Learn about vigilant mode.

What's changed?

  • The TA-PRM algorithm has been extended with a more flexible connection strategy, connecting nodes within a flexible radius, guaranteeing asymptotic optimality.
  • Implementations of RRT and RRT* have been added to benchmark the performance of TA-PRM against its contemporaries
  • Checking for node instances at similar times in the open list is now implemented with the use of a hash map, making this lookup a lot faster.

Detailed Changes / PRs

  • feat: implement first version of RRT tree creation by @sjschlapbach in #30
  • feat: implement asymptotically optimal version RRT* (extension of RRT) by @sjschlapbach in #31
  • enhance(RRT*): compute the static obstacle-free volume by @sjschlapbach in #32
  • feat: automatically compute node connection distance based on optimum by @sjschlapbach in #33
  • feat: implement hash map lookup for containment in open list by @sjschlapbach in #34

Full Changelog: v1.0.0...v1.1.0

Contributors

sjschlapbach
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