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Validate collision avoidance + varying time steps #179

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jmirabel opened this issue Feb 11, 2025 · 3 comments

Open

1 of 2 tasks

Validate collision avoidance + varying time steps #179

jmirabel opened this issue Feb 11, 2025 · 3 comments

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jmirabel commented Feb 11, 2025 •

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This is follow-up of #166

varying time steps.
collision avoidance.

jmirabel self-assigned this

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jmirabel commented Feb 27, 2025

While working on this, I realized that we have an issue because of delay. This is on hold until #191 is completed.

Contributor Author

jmirabel commented Mar 11, 2025

Varying time steps has been validated in several simulations.

Contributor Author

jmirabel commented Mar 11, 2025

Collision avoidance does not seem functional for now. There are several possible issues:

control delay: should be resolved by Experiment with the controller with constant delay and delay compensation #191
OCP linearization sent to LFC.

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