Robotic path planning using CUDA-optimized potential fields (harmonic function) in log-space. This library intends to support other mechanisms for this path planning approach, such as a control basis method for high dimensions and Robot Operating System (ROS) support.

If you use this library, then please cite our IROS 2016 paper:

Wray, Kyle H. and Ruiken, Dirk and Grupen, Roderic A. and Zilberstein, Shlomo. "Log-Space Harmonic Function Path Planning." Twenty-Ninth International Conference on Intelligent Robots and Systems (IROS), Daejeon, Korea, October 2016.