Scientific objectives - Githubissues

LCAS / iliad

L-CAS specific works on ILIAD project

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Scientific objectives #6

Open marc-hanheide opened 6 years ago

marc-hanheide commented 6 years ago

develop the ILIAD layered safety navigation architecture

so far, constraints in velocity space for DWA exist, these constraints (critique functions) can come from QTC state predictors, or they could come from Andrej's (BOSCH) intention prediction... Need to talk to Luigi to develop this.

In that context, looking at the velocity costmap to be evolved into more general constraints approach.

MFernandezCarmona commented 5 years ago

These works are currently in iliad_dynamic_constraints.

MFernandezCarmona commented 4 years ago

Current constraint options:

Velocity constraints: vehicle_execution_node can be configured to slow down but still adhere to its trajectory. It is implemented as a topic where speeds are publisheds.
Costmap constraints: a generalization of DWA critique functions. Potentially usable in any move_base. Right now we have a crude QTC-costmap conversion without predictions.