Add Planner | Generalised Shape Expansion (GSE)#819
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nikhilprakash99 wants to merge 3 commits intoompl:mainfrom
Open
Add Planner | Generalised Shape Expansion (GSE)#819nikhilprakash99 wants to merge 3 commits intoompl:mainfrom
nikhilprakash99 wants to merge 3 commits intoompl:mainfrom
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Included inside PR is an implementation of the Generalised Shape Expansion (GSE) Algorithm for path planning. The aforementioned algorithm has been published in the Journal of Guidance Control and Dynamics (DOI:10.2514/1.G004756). Kindly requested to add the implementation to OMPL's archive of algorithms
Relevant Publications
[1] Vrushabh. V. Zinage and S. Ghosh, “Generalized shape expansion-based motion planning in three-dimensional obstacle-cluttered environment,” Journal of Guidance, Control and Dynamics, vol. 43, no. 9, pp. 1781–1791, 2020
[2] V. Zinage and S. Ghosh, “An efficient motion planning algorithm for uavs in obstacle-cluttered environment,” in 2019 American Control Conference (ACC). IEEE, 2019, pp. 2271–2276