{"id":19973211,"url":"https://github.com/commonroad/commonroad-reachable-set","last_synced_at":"2025-05-04T01:31:05.038Z","repository":{"id":226264712,"uuid":"759710369","full_name":"CommonRoad/commonroad-reachable-set","owner":"CommonRoad","description":"This repository holds code related to the computation of reachable sets for autonomous vehicles","archived":false,"fork":false,"pushed_at":"2025-04-01T13:30:40.000Z","size":16883,"stargazers_count":4,"open_issues_count":3,"forks_count":2,"subscribers_count":2,"default_branch":"main","last_synced_at":"2025-04-08T01:34:18.103Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":"","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"bsd-3-clause","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/CommonRoad.png","metadata":{"files":{"readme":"README.md","changelog":"CHANGELOG.md","contributing":null,"funding":null,"license":"LICENSE.txt","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2024-02-19T07:30:27.000Z","updated_at":"2025-02-24T10:20:55.000Z","dependencies_parsed_at":"2025-03-30T20:33:01.065Z","dependency_job_id":null,"html_url":"https://github.com/CommonRoad/commonroad-reachable-set","commit_stats":null,"previous_names":["commonroad/commonroad-reachable-set"],"tags_count":6,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/CommonRoad%2Fcommonroad-reachable-set","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/CommonRoad%2Fcommonroad-reachable-set/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/CommonRoad%2Fcommonroad-reachable-set/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/CommonRoad%2Fcommonroad-reachable-set/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/CommonRoad","download_url":"https://codeload.github.com/CommonRoad/commonroad-reachable-set/tar.gz/refs/heads/main","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":252276955,"owners_count":21722447,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-11-13T03:10:39.282Z","updated_at":"2025-05-04T01:31:00.026Z","avatar_url":"https://github.com/CommonRoad.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# CommonRoad-Reach: A Toolbox for Reachability Analysis of Automated Vehicles\n\nReachability analysis has gained increasing popularity in motion planning and safeguarding of automated vehicles (AVs). \nWhile existing tools for reachability analysis mainly focus on general-purpose algorithms for formal verification \nof dynamical systems, a toolbox tailored to AV-specific applications is not yet available. \nThe CommonRoad-Reach toolbox\n\n- integrates different methods for computing reachable sets using polytopic set propagation and graph-based propagation;\n- provides Python and C++ implementations of the algorithms, thus offering convenient prototyping and real-time computation for the users; and\n- extracts driving corridors which can be used as planning constraints for motion planners.\n\n\n## System Requirements\n\nThe software is written in Python 3.10 and C++17, and was tested on Ubuntu 18.04, 20.04 and 22.04.\nIt should be compatible with later versions.\nFor building the code, the following minimum versions are required:\n  * **GCC and G++**: version 10 or above\n  * **CMake**: version 3.20 or above.\n  * **Pip**: version 21.3 or above\n\nWe further recommend using [Anaconda](https://www.anaconda.com/) to manage your virtual python environment.\n\n\n## Installation options\n\nWe provide two installation options for CommonRoad-Reach: Installation as a Python package or building from source.\n\n1. **Python Package**: Install the python package via `pip` in your Conda environment:\n    ```bash\n    pip install commonroad-reach\n    ```\n\n2. **Build from source**: To build the project from source and install it in your Conda environment, please refer to the [README_FOR_DEVS](./README_FOR_DEVS.md).\nThis option is only recommended for advanced users and those who are looking to contribute to the development of CommonRoad-Reach.\n\n## Getting Started\n\nRun the exemplary scripts to compute reachable sets and extract driving corridors.\n\n* To compute reachable sets, run `compute_reachable_set.py`.\n\n* To extract driving corridors, run `extract_driving_corridors.py`.\n\nThe outputs will be stored in the `./output/` folder. Default and scenario-specific configurations are stored in the `./configurations/` folder.\n\n\n## Documentation\n\nThe documentation of our toolbox is available on our website: https://cps.pages.gitlab.lrz.de/commonroad-reachable-set/.\n\nIn order to generate the documentation via Sphinx locally, run the following commands in the root directory:\n\n```bash\npip install -r ./docs/requirements_doc.txt\ncd docs/Sphinx\nmake html\n```\n\nThe documentation can then be launched by browsing ``./docs/Sphinx/build/html/index.html/``.\n\n\n## Citation\nIf you use our toolbox for your research, please cite our [paper](https://mediatum.ub.tum.de/doc/1684928/1684928.pdf):\n\n```text\n@InProceedings{iraniliu2022commonroad,\n      title     = {{CommonRoad-Reach}: {A} toolbox for reachability analysis of automated vehicles},\n      author    = {Irani Liu, Edmond and W\\\"ursching, Gerald and Klischat, Moritz and Althoff, Matthias},\n      booktitle = {Proc. of the IEEE Int. Conf. Intell. Transp. Syst.},\n      pages     = {2313--2320},\n      year      = {2022},\n   }\n```\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fcommonroad%2Fcommonroad-reachable-set","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fcommonroad%2Fcommonroad-reachable-set","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fcommonroad%2Fcommonroad-reachable-set/lists"}