GitHub

A C++17 implementation of kinodynamic RRT* for a non-holonomic unicycle vehicle, with a Python visualization script that renders the search tree, obstacles, and final path.

Kinodynamic RRT* Motion Planner A C++17 implementation of kinodynamic RRT* for a non-holonomic unicycle vehicle, with a Python visualization script that renders the search tree, obstacles, and final ...
GitHub

Mobile Robotics — Planning, Mapping & Localization

Implementations of the core mobile-robot autonomy stack, written from scratch in Python / ROS2 and demonstrated in Gazebo & RViz simulation. Graduate robotics coursework (RE 607, Widener University).
IEEE

Visual-RRT*: Generating Asymptotically Optimal Trajectories With Vision-Based Controllers

Abstract: In this article, we present a planning method for robotic systems that, by construction, guarantees the planned trajectories to be executable in closed-loop with a visual servoing controller ...
IEEE

Agile-RRT*: A Faster and More Robust Path Planner With Enhanced Initial Solution and Convergence Rate in Complex Environments

Abstract: Path planning is a critical process in mobile robot navigation. Sampling-based path planning algorithms represented by Rapidly Exploring Random Tree star (RRT*) have gained widespread ...