This release introduces code for Safe Horizon MPC associated with the following publication:
Journal Paper: O. de Groot, L. Ferranti, D. M. Gavrila, and J. Alonso-Mora, Scenario-Based Trajectory Optimization with Bounded Probability of Collision. International Journal of Robotics Research (IJRR), 2024. Preprint: https://arxiv.org/pdf/2307.01070
SH-MPC can handle non Gaussian uncertainty in the motion predictions of obstacles.
The implementation makes use of another package scenario_module. For more details on how to use SH-MPC in mpc_planner, see https://github.com/oscardegroot/scenario_module.