Planning

Computational Geometry

Lecture Notes on Differential Geometry

Behavior Planning

• Behavior Trees vs Finite-State Machines
• ETH: Applied Compositional Thinking for Engineers
• Forester: Behavior Tree Orchestration Engine

Motion Planning

Library/Toolbox

• Nearest Neighbor (NN) search with KD-trees: https://github.com/jlblancoc/nanoflann
• Hybrid A* Path Planner: https://github.com/karlkurzer/path_planner
• Motion Planning for Autonomous Vehicles: https://github.com/zhm-real/MotionPlanning

• Motion Planning: https://github.com/zhm-real/MotionPlanning

• Volumetric Data Representation and Manipulation on a 3D Grid: https://www.openvdb.org/