{"id":19531876,"url":"https://github.com/eric-heiden/grips","last_synced_at":"2025-04-26T13:32:09.721Z","repository":{"id":45712043,"uuid":"103475932","full_name":"eric-heiden/grips","owner":"eric-heiden","description":"Gradient-Informed Path Smoothing for Wheeled Mobile Robots (GRIPS)","archived":false,"fork":false,"pushed_at":"2018-10-02T17:35:31.000Z","size":194,"stargazers_count":115,"open_issues_count":0,"forks_count":46,"subscribers_count":7,"default_branch":"master","last_synced_at":"2024-06-07T15:03:43.905Z","etag":null,"topics":["nonholonomic","path-smoothing","trajectory-generation"],"latest_commit_sha":null,"homepage":null,"language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/eric-heiden.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}},"created_at":"2017-09-14T02:32:39.000Z","updated_at":"2024-03-25T02:26:30.000Z","dependencies_parsed_at":"2022-09-12T21:01:06.288Z","dependency_job_id":null,"html_url":"https://github.com/eric-heiden/grips","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/eric-heiden%2Fgrips","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/eric-heiden%2Fgrips/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/eric-heiden%2Fgrips/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/eric-heiden%2Fgrips/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/eric-heiden","download_url":"https://codeload.github.com/eric-heiden/grips/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":224036382,"owners_count":17245034,"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":["nonholonomic","path-smoothing","trajectory-generation"],"created_at":"2024-11-11T01:44:51.713Z","updated_at":"2024-11-11T01:44:52.636Z","avatar_url":"https://github.com/eric-heiden.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"## Gradient-Informed Path Smoothing for Wheeled Mobile Robots (GRIPS)\nC++ implementation of a post-smoothing approach that improves the quality of paths generated by sampling-based planners.\n\n\u003e Planning smooth trajectories is important for the safe, efficient and\n\u003e comfortable operation of mobile robots, such as wheeled robots moving in\n\u003e crowded environments or cars moving at high speed. Asymptotically optimal\n\u003e sampling-based motion planners can be used to generate such trajectories\n\u003e eventually. However, to achieve the necessary efficiency for the real-time\n\u003e operation of robots, one often uses their initial feasible trajectories or the\n\u003e trajectories of non-optimal planners instead, typically after a post-smoothing\n\u003e step. We propose a gradient-informed post-smoothing algorithm, called GRIPS,\n\u003e that deforms given trajectories by locally optimizing the placement of\n\u003e vertices while satisfying the system's kinodynamic constraints.  We show\n\u003e experimentally that GRIPS typically produces trajectories of significantly\n\u003e higher smoothness and smaller length than several existing post-smoothing\n\u003e algorithms.\n\nIf using GRIPS for scientific publications, please cite the following paper:\n\n```\n@inproceedings{heiden2018grips,\n  author={Heiden, Eric and Palmieri, Luigi and Koenig, Sven and Arras, Kai O. and Sukhatme, Gaurav S.},\n  booktitle={IEEE International Conference on Robotics and Automation (ICRA)},\n  title={Gradient-Informed Path Smoothing for Wheeled Mobile Robots},\n  year={2018}\n}\n```\n\n## Requirements\n* CMake \u003e=3\n* Eigen 3\n* [OMPL ~1.3.1](https://github.com/ompl/ompl/releases)\n* Qt5 (ensure the Qt Charts and SVG packages are installed)\n\n## Content\nThe following CMake targets are available:\n\n| CMake target      | Description                                                                        |\n| ----------------- | ---------------------------------------------------------------------------------- |\n| `homotopy_test`   | Compares paths from Theta* and A* before/after post-smoothing w.r.t homotopy class |\n| `benchmark`       | Compares different post-smoothing and path planning algorithms (cf. Table 1) and generates statistics JSON in `log` folder |\n| `shortening_test` | Compares path-shortening results on hand-crafted path (Fig. 2)                     |\n| `showcase`        | Visualizes post-smoothing of Theta* path in S-shaped environment (Fig. 3)          |\n\n\n## Used third-party tools\n* [nlohmann/json](https://github.com/nlohmann/json) to store path statistics data for plotting\n* [palmieri/posq](https://github.com/palmieri/posq) steer function for differential drive robots\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Feric-heiden%2Fgrips","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Feric-heiden%2Fgrips","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Feric-heiden%2Fgrips/lists"}