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https://github.com/johnyf/nfsim
Navigation Function package
https://github.com/johnyf/nfsim
diffeomorphism differential-geometry matlab motion-planning navigation-functions potential-fields robotics
Last synced: 3 months ago
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Navigation Function package
- Host: GitHub
- URL: https://github.com/johnyf/nfsim
- Owner: johnyf
- License: bsd-2-clause
- Created: 2013-11-01T22:44:17.000Z (about 11 years ago)
- Default Branch: main
- Last Pushed: 2021-08-04T00:30:34.000Z (over 3 years ago)
- Last Synced: 2024-04-18T14:28:57.555Z (9 months ago)
- Topics: diffeomorphism, differential-geometry, matlab, motion-planning, navigation-functions, potential-fields, robotics
- Language: MATLAB
- Homepage:
- Size: 573 KB
- Stars: 7
- Watchers: 1
- Forks: 4
- Open Issues: 2
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# Navigation Function Toolbox for MATLAB
## Summary
Compute Navigation Function trajectories among focally admissible obstacles.
Licensed under the 2-clause BSD.
## Description
Motion planning with [Navigation Functions](
http://www.sciencedirect.com/science/article/pii/019688589090017S) on
[focally admissible worlds](
http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6579966).
Provides functions implementing:
- Koditschek-Rimon Navigation Functions (NF) and
their analytic gradients, Hessians
- decentralized Multi-agent NFs
- polynomial NFs
- Khatib potential fields
and a library of implicit representations for:
- halfspaces
- ellipsoids
- tori
- superquadrics
- cylinders
- hyperboloids
- parallelepipeds
- Dupin cyclides
- Booth lemniscates
and:
- principal curvature analysis for some of the above
- local and global diffeomorphisms for [star worlds](
http://www.jstor.org/stable/2001835) and [convex worlds](
http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4543782).
- implicit constructive solid geometry (CSG) by implementing
[Rvachev functions](https://en.wikipedia.org/wiki/Rvachev_function).
Other features include simultaneous integration of multiple trajectories,
functions for fast vectorized plotting and a GUI.
If you use this toolbox, please [cite](
https://doi.org/10.1109/ACC.2013.6579966)
as:
```bibtex
@INPROCEEDINGS{Filippidis13acc,
author={Filippidis, I. and Kyriakopoulos, K.J.},
booktitle={American Control Conference (ACC), 2013},
title={Navigation functions for focally admissible surfaces},
year={2013},
pages={994-999},
ISSN={0743-1619},}
```
More details about the theory can be found [here](
https://github.com/johnyf/johnyf.github.io/raw/master/pubs/2012_filippidis_acc_tr.pdf).
## Installation
Add the directory tree of this package to your MATLAB path.
There are several dependencies from [fex](
http://www.mathworks.com/matlabcentral/), which will be released and
documented when time permits.
Also my [numerical](https://github.com/johnyf/numerical_utils) and
[plotting](https://github.com/johnyf/plot_utils) utilities are needed.
No dependency is OS-dependent.
## About
This package is part of the code I developed during my Diploma thesis at
the Control Systems Lab, NTUA.