Andrew Mills's repositories
marble-frontier
Frontier-based exploration for online planning in a 3D map in ROS.
local_planner
ROS implementation of A* on a 3D voxel-based cost map. Inputs include a start position, goal position, and a PointCloud2 map topic. Output is a path topic.
ground_finder
ROS package that publishes free voxels adjacent to the ground in octomaps.
minau-ferryplanner
MATLAB source code for a convex UAV data ferrying path planner
subt_gz9_backup
A backup of the ROS workspace for the original Gazebo9 SubT simulator.
graph-planner
Complete control solution ROS package for navigating environments that can be represented topologically by a graph.
no_bat_simulator
Ever wonder why your favorite baseball player has no plate discipline? Let's take away their bat. (inspired by Jon Bois' Chart Party video on Barry Bonds)
receding_horizon_stitcher
This package uses robot pose and velocity data to stitch together receding horizon paths for path following.
RRT_Matlab
MATLAB functions for running an RRT and RRT* with straight line and dubins car models on simple obstacle environments. Code used in "Toward an Autonomy Architecture for sUAS Network-Enabled Planning in the Cloud"
terminal_rendering
Renders basic 3D shapes in the terminal.