Deterministic Kinodynamic Planning with hardware demonstrations

DKP (Deterministic Kinodynamic Planning) is a bottom-up trajectory planner for robots with flatness properties. DKP builds an exploration tree of which the branches are spline trajectories. DKP employs an A*-like algorithm to select which branch of the tree to grow. The selected trajectories are then grown in a propagation process which respects the kinematic constraints, such as linear/angular speed limits or obstacle avoidance. In addition, DKP produces trajectories that are immediately executable by the robot. Various experiments are provided to show the ability of DKP to effectively handle complex environments with one or more robots.