johnyf/nfsim

Navigation Function package

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 on focally admissible worlds.

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 and convex worlds.
• implicit constructive solid geometry (CSG) by implementing Rvachev functions.

Other features include simultaneous integration of multiple trajectories, functions for fast vectorized plotting and a GUI.

If you use this toolbox, please cite as:

@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.

Installation

Add the directory tree of this package to your MATLAB path. There are several dependencies from fex, which will be released and documented when time permits. Also my numerical and plotting 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.