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1. visibility-heuristic-path-planner visibility-heuristic-path-planner Public

   Highly efficient holistic 2D visibility solution for grid-based environments/maps (C++ and MATLAB). Extends to a planner.

   C++ 23 4

2. accelerated-RS-planner accelerated-RS-planner Public

   Freespace Reeds-Shepp planner that is an order of magnitude faster than OMPL's implementation with no compromise, no parallelization, and no multi-threading.

   C++ 12 3

3. visibility-based-marching visibility-based-marching Public

   VBM is an efficient exact wave propagation technique that has an O(n) compute and space complexity. Inherently produces globally optimal paths to all grid points. Solves several shortcomings of sta…

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4. underspecified-RS-planner underspecified-RS-planner Public

   Introduces and solves the under-specified Reeds-Shepp problem: find the vehicle orientation that results in the shortest path.

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5. reeds-shepp-marching reeds-shepp-marching Public

   Visibility-based Reeds-Shepp marching solver for locally optimal nonholonomic path planning on 2D occupancy grids.

   C++ 3

6. hypergeometric-grid-visibility hypergeometric-grid-visibility Public

   High-throughput 2D/3D grid visibility in C++20, OpenMP, and CUDA, with a NumPy/Python API.

   Python 1