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[Feature]: Cleaning up the github repository documentation #67

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304 changes: 304 additions & 0 deletions doc/03_research/01_acting/04_research_Acting_Pylot_and_PAF21_2.md

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5 changes: 5 additions & 0 deletions doc/03_research/01_acting/Readme.md
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This folder contains all the results of our research on acting:

* **PAF22**
* [Basics](./01_acting.md)
* [Implementation](./02_acting_implementation.md)
* **PAF23**
* [PAF21_1 Acting](./03_paf21_1_Acting.md)
* [PAF21_2 Acting & Pylot Control](./04_research_Acting_Pylot_and_PAF21_2.md)
* [Autoware Control](./05_autoware_acting.md)
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# Sprint 0: Research Samuel Kühnel

## Pylot

## Planning

- 4 different options
- **Waypoint Planner**: Auto follows predefined waypoints. It recognizes traffic lights and stops at obstacles, but cannot avoid them
- **Freenet-Optimal-Trajecotry-Planner**: CPP code with Python wrapper ([GitHub](https://github.com/erdos-project/frenet_optimal_trajectory_planner))
→ Predefined line that is used for orientation → Can avoid obstacles!

![freenet_gif](https://github.com/erdos-project/frenet_optimal_trajectory_planner/raw/master/img/fot2.gif)

- **RRT\*-Planner**: RRT* algorithm for path planning ([GitHub](https://github.com/erdos-project/rrt_star_planner))
- Creates random nodes
- Adds nodes to the graph that are not blocked by objects on the road
- Generally terminates as soon as a node is found in the target area
- RRT*: Searches for the shortest path

![rrt_star_gif](https://github.com/erdos-project/rrt_star_planner/raw/master/img/rrtstar.gif)

- **Hybrid A\* planner**: Hybrid A* algorithm for path planning ([GitHub](https://github.com/erdos-project/hybrid_astar_planner))
- Calculates the shortest path between two nodes from a graph
- Similar to Dijkstra's algorithm
- Nodes are estimated based on their costs and promising nodes are selected first
- Hybrid A* algorithm: Not always optimal solution, but in the neighborhood of the optimal solution.

![hybrid_astar_gif](https://github.com/erdos-project/hybrid_astar_planner/raw/master/img/straight_obstacle.gif)

## PAF 21-2

### Perception
Expand Down
3 changes: 2 additions & 1 deletion doc/03_research/02_perception/Readme.md
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Expand Up @@ -6,4 +6,5 @@ This folder contains all the results of research on perception:
* [Basics](./02_basics.md)
* [First implementation plan](./03_first_implementation_plan.md)
* **PAF23**
* [Pylot](./04_pylot.md)
* [Pylot Perception](./04_pylot.md)
* [PAF_21_1 Perception](./05_Research_PAF21-Perception.md)
28 changes: 28 additions & 0 deletions doc/03_research/03_planning/09_Research_Pylot_Planning.md
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# Sprint 0: Research Samuel Kühnel

## Pylot

## Planning

- 4 different options
- **Waypoint Planner**: Auto follows predefined waypoints. It recognizes traffic lights and stops at obstacles, but cannot avoid them
- **Freenet-Optimal-Trajecotry-Planner**: CPP code with Python wrapper ([GitHub](https://github.com/erdos-project/frenet_optimal_trajectory_planner))
→ Predefined line that is used for orientation → Can avoid obstacles!

![freenet_gif](https://github.com/erdos-project/frenet_optimal_trajectory_planner/raw/master/img/fot2.gif)

- **RRT\*-Planner**: RRT* algorithm for path planning ([GitHub](https://github.com/erdos-project/rrt_star_planner))
- Creates random nodes
- Adds nodes to the graph that are not blocked by objects on the road
- Generally terminates as soon as a node is found in the target area
- RRT*: Searches for the shortest path

![rrt_star_gif](https://github.com/erdos-project/rrt_star_planner/raw/master/img/rrtstar.gif)

- **Hybrid A\* planner**: Hybrid A* algorithm for path planning ([GitHub](https://github.com/erdos-project/hybrid_astar_planner))
- Calculates the shortest path between two nodes from a graph
- Similar to Dijkstra's algorithm
- Nodes are estimated based on their costs and promising nodes are selected first
- Hybrid A* algorithm: Not always optimal solution, but in the neighborhood of the optimal solution.

![hybrid_astar_gif](https://github.com/erdos-project/hybrid_astar_planner/raw/master/img/straight_obstacle.gif)
1 change: 1 addition & 0 deletions doc/03_research/03_planning/Readme.md
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Expand Up @@ -9,3 +9,4 @@ This folder contains all the results of research on planning:
* [State machine design](./06_state_machine_design.md)
* **PAF23**
* [PAF21-1 Planning](./08_paf21-1.md)
* [Pylot Planning](./09_Research_Pylot_Planning.md)
37 changes: 37 additions & 0 deletions doc/08_dev_talks/dev_talks_paf23/sprint_1.md
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# Sprint 1

- [ ] Namen auf Präsentationen packen
- [ ] cleaning up github repo {Robert, Leon}
- [ ] Research issues PR / merge
- [ ] 5- 25 h work for submission fix (Work for 2) {Samuel, Maxi}
- [ ] constructing & updating docker image (archive into docker image)
- [ ] update of branches
- [ ] Analyzation of projects AIM State and IS State (every group)
- [ ] Start working on code
- [ ] detailed understanding of components

Perception: {Leon, Maxi}

- [ ] removing panopticsegmentation (if non breaking)
- [ ] what does happen when its removed?
- [ ] (→ replacing it with object detection by Pylot [issue for backlog])

Planning: {Julius, Samuel, Alex}

- [ ] creating visual architecture
- [ ] understanding of components
- [ ] understanding of current Decision Tree
- [ ] does the global routing by the Decision Tree work?
- [ ] lane decisions correct? (holding lane, switching lanes)
- [ ] how well does it perform
- [ ] limitations?
- [ ] (Decision Tree, (vs. ) State Machine [issue for backlog])
- [ ] comparing to performance of State Machine by Driving Score (if Decision Tree hits its limitations)
- [ ] Decision Tree might be better without needing to test State Machine
- [ ] Composition of local planner

Acting: {Robert, Alex}

- [ ] Detailed understanding of components
- [ ] Comparing trajectory with actual actions
- [ ] which new interfaces are needed? (if needed)
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