{"id":28095273,"url":"https://github.com/robustfieldautonomylab/mission-oriented-gp-motion-planning","last_synced_at":"2025-06-12T08:03:14.893Z","repository":{"id":208522608,"uuid":"567907229","full_name":"RobustFieldAutonomyLab/Mission-Oriented-GP-Motion-Planning","owner":"RobustFieldAutonomyLab","description":null,"archived":false,"fork":false,"pushed_at":"2023-11-09T19:03:32.000Z","size":125452,"stargazers_count":15,"open_issues_count":0,"forks_count":3,"subscribers_count":2,"default_branch":"master","last_synced_at":"2025-05-13T15:52:52.329Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/RobustFieldAutonomyLab.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null}},"created_at":"2022-11-18T21:46:10.000Z","updated_at":"2025-01-27T16:26:56.000Z","dependencies_parsed_at":"2023-11-21T23:38:47.276Z","dependency_job_id":null,"html_url":"https://github.com/RobustFieldAutonomyLab/Mission-Oriented-GP-Motion-Planning","commit_stats":null,"previous_names":["robustfieldautonomylab/mission-oriented-gp-motion-planning"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/RobustFieldAutonomyLab/Mission-Oriented-GP-Motion-Planning","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/RobustFieldAutonomyLab%2FMission-Oriented-GP-Motion-Planning","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/RobustFieldAutonomyLab%2FMission-Oriented-GP-Motion-Planning/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/RobustFieldAutonomyLab%2FMission-Oriented-GP-Motion-Planning/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/RobustFieldAutonomyLab%2FMission-Oriented-GP-Motion-Planning/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/RobustFieldAutonomyLab","download_url":"https://codeload.github.com/RobustFieldAutonomyLab/Mission-Oriented-GP-Motion-Planning/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/RobustFieldAutonomyLab%2FMission-Oriented-GP-Motion-Planning/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":259426829,"owners_count":22855543,"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":"2025-05-13T15:39:48.374Z","updated_at":"2025-06-12T08:03:14.885Z","avatar_url":"https://github.com/RobustFieldAutonomyLab.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# MGPMP\n**Mission-oriented Gaussian Process Motion Planning (MGPMP) is a novel motion planning framework for unmanned under-water vehicles (UUVs) - the first framework\nthat applies Gaussian process motion planning to solve a 3D path planning problem for a 6-DoF robot in underwaterenvironments. We address missions requiring UUVs to remain\nin close proximity to seafloor terrain, which must be achieved alongside collision avoidance. Our framework also considers the influence of current flows as part of the cost function, allowing for more accurate planning.**\n\u003cp align=\"center\"\u003e\u003cimg src=\"factor.jpg\" width=700\u003e\u003c/p\u003e\n\n## \n - Here we provide a 3D motion planning example and two example datasets, NYC upper bay dataset and Queen Elizabeth Island dataset.\n - **The GP Motion Planning code in GPMP2 folder is developed based on [GPMP2](https://github.com/borglab/gpmp2.git).**\n```\n  ├──MGPMP\n     ├── ...\n     ├── gpmp2                      # GP Motion Planning code\n     ├── tests\n     │   └── Mobile3DPlanning.cpp   # 3D motion planning example\n     ├── data                       # Folder for NYC upper bay(NYC) and Queen Elizabeth Island upper bay(str) dataset\n     └── ...\n  ```\n# Dependencies\n- [CMake](http://www.cmake.org/cmake/resources/software.html) \u003e= 3.0 \n```bash\nsudo apt-get install cmake\n```\n- [Boost](http://www.boost.org/users/download/) \u003e=1.65 \u003c 1.74\n```bash\nsudo apt-get install libboost-all-dev\n```\n\n- [GTSAM](https://github.com/borglab/gtsam.git) 4.0.0 \n```bash\ngit clone https://github.com/borglab/gtsam.git\ncd gtsam\ngit checkout wrap-export # only work with specific version of GTSAM\nmkdir build \u0026\u0026 cd build\ncmake ..\nmake check  # optional, run unit tests\nsudo make install\n```\n\n- [ YAML-cpp](https://github.com/jbeder/yaml-cpp.git) \n```bash\ngit clone https://github.com/jbeder/yaml-cpp.git\ncd \nmkdir build \u0026\u0026 cd build\ncmake ..\nmake\nsudo make install\n```\n\n- [edt](https://github.com/seung-lab/euclidean-distance-transform-3d)\n```bash\ngit clone https://github.com/seung-lab/euclidean-distance-transform-3d.git\nmkdir UUVPlanning/third_party/edt\ncp euclidean-distance-transform-3d/cpp/edt.hpp UUVPlanning/third_party/edt\ncp euclidean-distance-transform-3d/cpp/threadpool.h UUVPlanning/third_party/edt\n\nIn file threadpool.h\nchange line 73 to:\ninline void ThreadPool::start(size_t threads) {\n\nIn file edt.hpp\nchange line 144 to:\ninline void squared_edt_1d_parabolic(\nchange line 225 to:\ninline void squared_edt_1d_parabolic(\nchange line 295 to:\ninline void _squared_edt_1d_parabolic(\n\n```\n\n- [matlot++](https://github.com/alandefreitas/matplotplusplus)\n```bash\ncd UUVPlanning/third_party\ngit clone https://github.com/alandefreitas/matplotplusplus.git\n```\n## How to use\n\n```\ncd Misson-Oriented-GP-Motion-Planning\nmkdir build\ncd build\ncmake ..\nmake\ntests/testMobile3D your_choice_of_yaml_file.yaml (example:../data/STR.yaml)\n```\n\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Frobustfieldautonomylab%2Fmission-oriented-gp-motion-planning","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Frobustfieldautonomylab%2Fmission-oriented-gp-motion-planning","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Frobustfieldautonomylab%2Fmission-oriented-gp-motion-planning/lists"}