{"id":19973215,"url":"https://github.com/commonroad/commonroad-reactive-planner","last_synced_at":"2025-06-14T02:40:18.411Z","repository":{"id":235474075,"uuid":"775397762","full_name":"CommonRoad/commonroad-reactive-planner","owner":"CommonRoad","description":"A sampling-based motion planner for autonomous vehicles using quintic polynomials in a Frenet frame","archived":false,"fork":false,"pushed_at":"2024-04-23T13:45:38.000Z","size":182802,"stargazers_count":4,"open_issues_count":0,"forks_count":1,"subscribers_count":1,"default_branch":"master","last_synced_at":"2024-11-13T03:10:37.426Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"Jupyter Notebook","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":null,"contributing":null,"funding":null,"license":"LICENSE","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}},"created_at":"2024-03-21T10:11:02.000Z","updated_at":"2024-08-10T03:43:09.000Z","dependencies_parsed_at":"2024-04-23T14:34:27.705Z","dependency_job_id":null,"html_url":"https://github.com/CommonRoad/commonroad-reactive-planner","commit_stats":null,"previous_names":["commonroad/commonroad-reactive-planner"],"tags_count":2,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/CommonRoad%2Fcommonroad-reactive-planner","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/CommonRoad%2Fcommonroad-reactive-planner/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/CommonRoad%2Fcommonroad-reactive-planner/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/CommonRoad%2Fcommonroad-reactive-planner/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/CommonRoad","download_url":"https://codeload.github.com/CommonRoad/commonroad-reactive-planner/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":233585635,"owners_count":18698349,"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":"2024-11-13T03:10:40.056Z","updated_at":"2025-06-14T02:40:18.399Z","avatar_url":"https://github.com/CommonRoad.png","language":"Jupyter Notebook","funding_links":[],"categories":[],"sub_categories":[],"readme":"# CommonRoad Reactive Planner\n\nThis project provides a trajectory planner for planning problems given in the [CommonRoad](https://commonroad.in.tum.de/) scenario format.\nThe trajectories are generated using the sampling-based approach in [1][2]. This approach plans motions by sampling a \ndiscrete set of trajectories, represented as quintic polynomials in a Frenet frame and selecting an optimal trajectory according\nto a given cost function.\n\n\u003cimg src=\"docs/assets/ZAM_Tjunction-1_42_T-1.gif\" alt=\"reactive-planner\" width=\"600\"/\u003e\n\n\n## Getting Started\nThese instructions should help you to install the trajectory planner and use it for development and testing purposes.\n\nTo install the package from PyPi, please run:\n```shell\npip install commonroad-reactive-planner\n```\n\n### Requirements\nThe software is  written in Python 3.8 and tested on Ubuntu 18.04-22.04. The required python dependencies are listed in `pyproject.toml`.\n\nFor the python installation, we suggest the usage of [Anaconda](http://www.anaconda.com/download/#download).\n\nFor the development IDE we suggest [PyCharm](http://www.jetbrains.com/pycharm/)\n\n\n### Installation from Source\n1. Clone this repository \u0026 create a new conda environment, e.g.,  `conda create -n commonroad-py38 python=3.8`\n\n\n2. Go to cloned root directory and install the package:\n    * Install the package via poetry: `poetry install`\n    * Install the package via pip: `pip install .`\n\n\n\n### How to run\n\n**Main example script** `run_planner.py`: \n\nThe example script shows how to run the planner on an exemplary CommonRoad scenario with the following steps:\n* creating a planner configuration\n* instantiating the reactive planner\n* running the planner in a cyclic replanning loop with a fixed replanning fequency\n\nIn addition we also provide an interactive Jupyter notebook tutorial in the `tutorial/` folder.\n\n\n## Literature\n[1] Werling M., et al. *Optimal trajectory generation for dynamic street scenarios in a frenet frame*. In: IEEE International Conference on Robotics and Automation, Anchorage, Alaska, 987–993.\n\n[2] Werling M., et al. *Optimal trajectories for time-critical street scenarios using discretized terminal manifolds* In:\nThe International Journal of Robotics Research, 2012\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fcommonroad%2Fcommonroad-reactive-planner","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fcommonroad%2Fcommonroad-reactive-planner","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fcommonroad%2Fcommonroad-reactive-planner/lists"}