Feature Type
Adding new functionality to Angler
Problem Description
The current framework utilizes general waypoint planning for task execution. While this may be fine for a baseline system, it doesn't provide an optimal solution and can be challenging to extend when using a planner in energetic conditions.
Feature Description
Implement an online trajectory planner for generating trajectories through a sequence of setpoints planned by a high-level planner. This should be fed to a kinematic controller which should perform interpolation and trajectory tracking.
Alternative Solutions
need food
Additional Context
No response
Feature Type
Adding new functionality to Angler
Problem Description
The current framework utilizes general waypoint planning for task execution. While this may be fine for a baseline system, it doesn't provide an optimal solution and can be challenging to extend when using a planner in energetic conditions.
Feature Description
Implement an online trajectory planner for generating trajectories through a sequence of setpoints planned by a high-level planner. This should be fed to a kinematic controller which should perform interpolation and trajectory tracking.
Alternative Solutions
need food
Additional Context
No response