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requirements.txt has all the packages necessary to run this project.
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DataProcessingPipleline folder contains python scripts necessary to process bags collected before training and deploying. ->ProcessBags.py script runs the script to process collected bags
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TRON folder contains the TRON method as discussed in the paper as well as the Downstream Kinodynamic Learning.
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Manual_CAHSOR contains files to run the Manual + CAHSOR implementation in the robot. ->Manual_CAHSOR.py script runs the implementation.
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MPPI_CAHSOR contains files to run the MPPI + CAHSOR implementation in the robot. ->mppi_planner.py script runs the implementation.
@article{pokhrel2024cahsor,
author={Pokhrel, Anuj and Nazeri, Mohammad and Datar, Aniket and Xiao, Xuesu},
journal={IEEE Robotics and Automation Letters},
title={CAHSOR: Competence-Aware High-Speed Off-Road Ground Navigation in $\mathbb {SE}(3)$},
year={2024},
volume={9},
number={11},
pages={9653-9660},
doi={10.1109/LRA.2024.3457369}}