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mit-acl / mader

Trajectory Planner in Multi-Agent and Dynamic Environments
BSD 3-Clause "New" or "Revised" License
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Trajectory Generation done in Octopus Search #17

Closed minghancmh closed 11 months ago

minghancmh commented 1 year ago

Hi,

Just wondering why the trajectories generated in octopus search does not actually reach the final end point?

Thanks!

minghancmh commented 1 year ago

Found out that modifying params.Ra yielded a trajectory that reaches the endpoint. Just curious as to what this Ra is ?

jtorde commented 11 months ago

Hi @minghancmh,

Ra is the radius of a sphere in which the algorithm will try to find a trajectory. Octopus Search will not create any control points that lie outside that sphere (see this line).

Octopus Search will try to find a trajectory that finishes close to the goal (but it does not have to be exactly the goal). The trajectory obtained by Octopus Search will be used as initial guess in the optimization. In this optimization, the distance between the endpoint of the trajectory and the goal is minimized (see Section V-D of the paper)

jtorde commented 11 months ago

I'm closing this for now, but feel free to reopen it if needed