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Mapping & Planning

Octomap and OccupancyMapMonitor were used for mapping. Planning is divided into two steps, one is preflight planning developed scenario-based, other one is online planning using planning algorithms like RRT. FCL is used for collision check on the map.

C++ / ROS

Preflight Planning for Aircrafts

Screenshot from 2020-08-27 16-26-56.png

Preflight Planning for Warehouses

5-1.png

Online Planning

Screenshot from 2023-02-03 16-39-50.png

Mapping

Screenshot from 2023-02-03 16-43-14.png
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