31 lines
1.7 KiB
ReStructuredText
31 lines
1.7 KiB
ReStructuredText
Welcome to Pyrate!
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This project offers algorithms targeted towards autonomous surface vehicles implemented in the Python 3.6+ programming language.
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The functionality included in the Pyrate Python package enables the perception and processing of environmental features, planning of strategies and trajectories as well as action taking.
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Pyrate is therefore divided into multiple distinct subpackages *sense*, *plan* and *act*, as well as the *common* package for additional features such as file I/O and mathematical abstractions.
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The sense subpackage includes algorithms for computer vision, single and multi target state estimation, data smoothing and more.
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In the plan subpackage, the perceived state of the agent and its environment is processed to compute trajectories for long- and short-term navigation as well as strategic decisions.
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This also includes methods for gradient based and gradient free optimization methods are included.
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Finally, the act subpackage contains state controllers to carry out planned behavior.
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.. image:: ../../resources/project_structure.png
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This project aims at providing the algorithmic backend for the ROS driven on-board systems and simulations.
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Models of the robot's mechanics, electronics and its environment shall be developed within their own respective repository.
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Furthermore technical specifications, maps and so on go into a separate project repository as well.
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This ensures a clean separation of distinct requirements for quality assurance and responsibilities that distinguish these projects.
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.. toctree::
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:hidden:
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installation
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sense/sense
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plan/plan
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act/act
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common/common
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scripts/scripts
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contribution
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quality_assurance
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