Motion Planning

We implement Multi-agent Path Finding algorithms like Space-time Astar, Conflict Based Search and variants for warehouse mobile robots to find collision free path to the target position. We provide comparative analysis of the studied algorithms, with increasing environmental complexity and increasing number of agents

Valet Parking of a differential drive, Car-Ackermann Steering and Truck Trailer we implement Hybrid Astar considering holonomic and non-holonomic constraints with trajectory rollouts to park the vehicle between two other vehicles and maneuvering through obstacles.