{"id":16976267,"url":"https://github.com/johnyf/nfsim","last_synced_at":"2025-06-20T18:13:48.311Z","repository":{"id":11568323,"uuid":"14055945","full_name":"johnyf/nfsim","owner":"johnyf","description":"Navigation Function 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Navigation Function Toolbox for MATLAB\n\n## Summary\nCompute Navigation Function trajectories among focally admissible obstacles.\nLicensed under the 2-clause BSD.\n\n## Description\nMotion planning with [Navigation Functions](\n    http://www.sciencedirect.com/science/article/pii/019688589090017S) on\n[focally admissible worlds](\n    http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6579966).\n\n\nProvides functions implementing:\n\n- Koditschek-Rimon Navigation Functions (NF) and\n  their analytic gradients, Hessians\n- decentralized Multi-agent NFs\n- polynomial NFs\n- Khatib potential fields\n\nand a library of implicit representations for:\n\n- halfspaces\n- ellipsoids\n- tori\n- superquadrics\n- cylinders\n- hyperboloids\n- parallelepipeds\n- Dupin cyclides\n- Booth lemniscates\n\nand:\n\n- principal curvature analysis for some of the above\n- local and global diffeomorphisms for [star worlds](\n    http://www.jstor.org/stable/2001835) and [convex worlds](\n    http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4543782).\n- implicit constructive solid geometry (CSG) by implementing\n  [Rvachev functions](https://en.wikipedia.org/wiki/Rvachev_function).\n\nOther features include simultaneous integration of multiple trajectories,\nfunctions for fast vectorized plotting and a GUI.\n\nIf you use this toolbox, please [cite](\n    https://doi.org/10.1109/ACC.2013.6579966)\nas:\n\n```bibtex\n@INPROCEEDINGS{Filippidis13acc,\nauthor={Filippidis, I. and Kyriakopoulos, K.J.},\nbooktitle={American Control Conference (ACC), 2013},\ntitle={Navigation functions for focally admissible surfaces},\nyear={2013},\npages={994-999},\nISSN={0743-1619},}\n```\nMore details about the theory can be found [here](\n    https://github.com/johnyf/johnyf.github.io/raw/master/pubs/2012_filippidis_acc_tr.pdf).\n\n## Installation\nAdd the directory tree of this package to your MATLAB path.\nThere are several dependencies from [fex](\n    http://www.mathworks.com/matlabcentral/), which will be released and\ndocumented when time permits.\nAlso my [numerical](https://github.com/johnyf/numerical_utils) and\n[plotting](https://github.com/johnyf/plot_utils) utilities are needed.\nNo dependency is OS-dependent.\n\n## About\nThis package is part of the code I developed during my Diploma thesis at\nthe Control Systems Lab, NTUA.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fjohnyf%2Fnfsim","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fjohnyf%2Fnfsim","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fjohnyf%2Fnfsim/lists"}