Risk-Aware Shortest Path (ICAPS 2017 Submission 73)
The RASP planner itself only requires OMPL and Boost. Running the provided examples requires OpenCV.
To compile the library and the examples, run
catkin build ompl_rasp
The main example can be run with
./devel/lib/ompl_rasp/vikings # for the incremental RASP planner
./devel/lib/ompl_rasp/vikings --precompute true # for the precomputation-based RASP planner
The examples will automatically pop up an OpenCV window that plots the path found by the planner. Press any key to close the window.