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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.

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