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We have added some experimental support for a "lookahead" feature that helps smooth out the traffic system when robots need to pass through a specific sequence of waypoints without having exclusive ownership of those waypoints. The experimental implementation avoids making any changes to the existing system workflow, and as a result it's abusing some of the negotiation and traffic dependency concepts.
We should rework the traffic system to make this lookahead a first-class citizen in the traffic schedule. We would redefine traffic conflicts as occurring when the current intended trajectory of a robot conflicts with the current intended trajectory or lookahead trajectory of another robot. Conflicts between lookahead trajectories will be ignored.
The text was updated successfully, but these errors were encountered:
We have added some experimental support for a "lookahead" feature that helps smooth out the traffic system when robots need to pass through a specific sequence of waypoints without having exclusive ownership of those waypoints. The experimental implementation avoids making any changes to the existing system workflow, and as a result it's abusing some of the negotiation and traffic dependency concepts.
We should rework the traffic system to make this lookahead a first-class citizen in the traffic schedule. We would redefine traffic conflicts as occurring when the current intended trajectory of a robot conflicts with the current intended trajectory or lookahead trajectory of another robot. Conflicts between lookahead trajectories will be ignored.
The text was updated successfully, but these errors were encountered: