Cyber Planner 2025

Team 8214's 2025 FRC season code for superstructure motion planning, written in CPP and Eigen Lib. See our math work and code report here.

The algorithm is based on a finite convex polygon set representation of objects, where path planning is built upon a Lipschitz continuous artificial potential field. In trajectory planning, constraints on current and voltage are incorporated, and time-optimal trajectories are derived using the Augmented Lagrangian method and the L-BFGS optimization algorithm.

Quick Start

Environment Setup

• C++17 or higher
• CMake 3.15 or higher

Linux / macOS

bash scripts/build.sh

./build/server

./build/client

Windows

.\scripts\build.ps.1

.\build\Release\server.exe

.\build\Release\client.exe

See Also

1. Z. Zirui, CoTiMo. (2024). [Online]. Available: https://github.com/ZhangzrJerry/CoTiMo
2. D. Verscheure, B. Demeulenaere, J. Swevers, J. De Schutter, and M. Diehl, "Time-Optimal Path Tracking for Robots: A Convex Optimization Approach," IEEE Trans. Automat. Contr., vol. 54, no. 10, pp. 2318–2327, Oct. 2009, doi: 10.1109/TAC.2009.2028959.