This software equips INSAT [1], [2] with parallel processing capability, namely PINSAT, using the ideas developed in ePA*SE.

This particular fork catkinizes the workspace to be able to build with ROS and implements wrapper functions to be used by the Shield Planner

The planning code only uses C++ standard libraries and has no external dependencies. However, the robot_nav_2d example has the following dependencies:

1. Boost C++
2. OpenCV C++ for visualization
3. sbpl package

For the readme of pure search algorithms in this repository, please visit here.

If you use PINSAT, please cite

@article{natarajan2024pinsat,
  title={PINSAT: Parallelized Interleaving of Graph Search and Trajectory Optimization for Kinodynamic Motion Planning},
  author={Natarajan, Ramkumar and Mukherjee, Shohin and Choset, Howie and Likhachev, Maxim},
  journal={IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2024}
}