Add proactive deconflicting heuristic to avoid planner crashes when robots need to move past each other #137
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…obots need to move past each other
trey0
commented
Feb 8, 2024
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Minor improvement to plot styling, especially avoids accidentally truncating the end of the plan from the plot axes.
…nd fix behavior for this case
bcoltin
approved these changes
Feb 9, 2024
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This PR is very much like the last one. It shouldn't change the
plan_survey.pyinterface for existing users. It is designed to avoid planner crashes in cases when the robots need to move past each other to complete their goals. The intended behavior is that the lower-priority robot makes way for the higher-priority robot.Two new test cases are added that previously would have resulted in crashes, but now show intelligent behavior.