Risk-Aware Graph Search (RAGS) code for testing and release.
RAGS is a search technique for planning paths through a graph with uncertain edge costs.
This code release is in conjunction with our paper submission to the IJRR special issue on WAFR2016.
@article{Chung2019risk,
author={Chung, Jen Jen and Smith, Andrew J and Skeele, Ryan and Hollinger, Geoffrey A.},
title={Risk-aware graph search with dynamic edge cost discovery},
journal={The International Journal of Robotics Research},
year={2019},
pages={182--195},
volume={38},
number={2--3},
doi={10.1177/0278364918781009},
URL={https://doi.org/10.1177/0278364918781009}
}Usage:
- from the command line, navigate to the build directory and run
- cmake ..
- make
- ./test_path_comparisons
- RAGS domination threshold is determined by the value of PTHRESH, which is defined in main_Planner_Comparisons.cpp
- toggle values on lines 63 and 64 of main_Planner_Comparisons.cpp to generate new random graphs or read in stored configurations