Safe-Returning-FT

This repository contains the implementation of Safe-Returning-FaSTrack introduced in the paper Safe Returning FaSTrack with Robust Control Lyapunov-Value Functions by Zheng Gong*, Boyang Li* and Sylvia Herbert.

SR-F is designed to reject unexpected disturbances during navigation in a priori unknown environments, while accelerating the process. It merges concepts from 1) Robust Control Lyapunov-Value Functions (R-CLVF), and 2) Fast and Safe Tracking (FaSTrack) framework.

Two SR-F demos in the paper are included:

1. 8D quadrotor model tracking a 2D integrator planner model with the A* planner,

2. 10D near-hover quadrotor tracking a 3D integrator planner model with the RRT planner.

Requirements

• hj_reachability: https://github.com/HJReachability/helperOC
• Control-Lyapunov-Value-Functions: https://github.com/ZG0327/Control-Lyapunov-Value-Functions
• Level Set Methods Toolbox by Ian Mitchell: https://www.cs.ubc.ca/~mitchell/ToolboxLS/.