SafeStar Robotics

SafeStar Robotics

SafeStar is a hazard-aware pathfinding system for embedded deployment. It extends A* with a wavefront-based safety score (0 at hazards; higher = safer) to find the closest safe exit rather than the merely shortest path.

• C++ desktop demo (safety-aware A*)
• Python prototype (logic + visualization)
• MCU port in progress (FRDM-K64F)

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Quickstart (C++)

cmake -S . -B build -DCMAKE_BUILD_TYPE=Release
cmake --build build -j
./build/safeStar_demo

Add a screenshot or GIF at docs/images/safestar_demo.png and reference it below:

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How it works (one minute)

• Wavefront safety score: BFS from hazards sets safety_score per cell (0 at hazard; increases with distance).
• SafeStar planner: multi-objective A* that favors higher safety and reduced distance-to-exit.
• Baseline: classic A* ignores hazards for comparison.

Legend: S SafeStar, A A*, @ overlap, H hazard, E exit, X start, # obstacle.

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Project Layout

├── apps/                       # Runnable desktop demos (C++)
│   ├── include/            
|   |   └──safeStar.hpp
|   ├── src/
|   |   ├──safeStar_demo.cpp    # Safety-aware pathfinding demo
|   |   └──safeStar.cpp
├── python_prototype/           # Archived Python prototype + visualization
│   ├── hazard_pathfinder.py
│   ├── draw_visualization.py
│   └── README.md
├── include/                    # MCU Port Includes (WIP)
├── src/                        # MCU Port Source (WIP)
├── test/                       # Unit tests (ctest/Catch2)
├── CMakeLists.txt
└── README.md

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Docs

• Usage: docs/USAGE.md
• Architecture: docs/ARCHITECTURE.md
• Testing: docs/TESTING.md
• MCU notes: docs/MCU_NOTES.md

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Status

• Desktop C++ demo: complete
• Python prototype: archived
• MCU port (FRDM-K64F): in progress

License

MIT