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IMRCLab / db-CBS

MIT License
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SST: can't solve at_goal_unicycle #49

Closed whoenig closed 1 year ago

whoenig commented 1 year ago

Unfortunately this can only be solved if we use a true joint robot, without the min-sum-of-cost "optimization" where we stop state propagation once we reached the goal. If we switch back, this would also make #47 obsolete and increase the cost more. For some dynamics (e.g., airplane with minimum speed), forcing continued joint space propagation may result in incompleteness, though. Let's discuss @akmaralAW.

whoenig commented 1 year ago

Another option would be a stochastic state propagation, e.g., if a robot is at the goal, we don't propagate any further in 90% of the cases, and we do in the remaining cases.