Margarida Costa Faria (Center for Advanced Aerospace Technologies), Ivan Maza (Robotics, Vision and Control Group, University of Seville), Antidio Viguria (Center for Advanced Aerospace Technologies)
Generating paths in large, outdoor, 3D scenarios, online is crucial to autonomous vehicles in various environments like air or underwater. Deterministic algorithms can give more guarantees on the action taken in a given situation, a feature highly important in standardization and verification. The path_planning package offers the implementation of Lazy Theta *, extended for 3D and implemented over octomap. This combination addresses all of the mentioned concerns. The talk will focus on how to set up a service that responds with 3D obstacle-avoiding paths, in what scenarios to use it, and a brief contextualization of the algorithm.