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oscardegroot authored Oct 14, 2024
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This package implements Model Predictive Control (MPC) for motion planning in 2D dynamic environments using ROS/ROS2 C++. A complete VSCode docker environment with this planner is available at https://github.com/tud-amr/mpc_planner_ws. This code is associated with the following publications:

**Journal Paper:** O. de Groot, L. Ferranti, D. M. Gavrila, and J. Alonso-Mora, *Topology-Driven Parallel Trajectory Optimization in Dynamic Environments.* **IEEE Transactions on Robotics (T-RO)** 2024. Available: https://doi.org/10.1109/TRO.2024.3475047
**Journal Paper:** O. de Groot, L. Ferranti, D. M. Gavrila, and J. Alonso-Mora, *Topology-Driven Parallel Trajectory Optimization in Dynamic Environments.* **IEEE Transactions on Robotics (T-RO)**, 2024. Available: https://doi.org/10.1109/TRO.2024.3475047


**Conference Paper:** O. de Groot, L. Ferranti, D. M. Gavrila, and J. Alonso-Mora, *Globally Guided Trajectory Optimization in Dynamic Environments.* **IEEE International Conference on Robotics and Automation (ICRA)** 2023. Available: https://doi.org/10.1109/ICRA48891.2023.10160379
**Conference Paper:** O. de Groot, L. Ferranti, D. M. Gavrila, and J. Alonso-Mora, *Globally Guided Trajectory Optimization in Dynamic Environments.* **IEEE International Conference on Robotics and Automation (ICRA)**, 2023. Available: https://doi.org/10.1109/ICRA48891.2023.10160379

This repository includes our implementation of **Topology-Driven MPC** (**T-MPC++**) that computes multiple distinct trajectories in parallel, each passing dynamic obstacles differently. For a brief overview of the method, see the [Paper website](https://autonomousrobots.nl/paper_websites/topology-driven-mpc).

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solver_generator

Solver Generation
FileStmtsMissCoverMissing
solver_generator
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   generate_cpp_files.py3622593%22, 73–75, 82–84, 91, 119, 194, 229–231, 458–469
   generate_solver.py44588%17, 20, 25, 27, 65
   solver_definition.py500100% 
   solver_model.py25414642%12, 24–25, 27–28, 30, 65–68, 70–71, 73–74, 77, 83, 103, 115–116, 131, 134, 147–149, 167, 173–175, 177–178, 180–181, 185–188, 190, 220–223, 225–226, 228, 230–231, 235–238, 240, 244, 246–248, 251–254, 257, 259–261, 263–264, 266–267, 269, 271, 277–279, 281–282, 284–285, 289–292, 294, 298, 305–307, 309–310, 319–320, 323–327, 329–334, 344–347, 349, 351, 358–360, 362–363, 365, 375–376, 379–383, 385, 388–390, 392, 394, 396, 400, 402–406, 411–414, 417, 419–421, 423–424, 426–427, 429, 437
   spline.py601181%25–26, 53–56, 70, 80, 84–85, 87
solver_generator/test
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   test_base_classes.py65296%38–39
   test_control_modules.py950100% 
solver_generator/util
   code_generation.py271833%2–4, 6, 18–19, 22–26, 28, 30–31, 34, 38, 43, 52
   files.py67395%56, 84, 88
   logging.py42978%33, 45–46, 49, 52, 55–58
   math.py60100% 
   parameters.py73395%44, 77, 81
TOTAL138125781% 

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