GPMP

This repo is a basic implementation that samples from the GPMP prior with (d/dx)^2 control over two variables [x, y].

Sample Robot Trajectory Optimization

Sampled Trajectory

Interpolated Trajectory

Simulated Trajectory

Original Works:

• Mukadam, Mustafa, et al. "Continuous-time Gaussian process motion planning via probabilistic inference." The International Journal of Robotics Research 37.11 (2018): 1319-1340.
• https://arxiv.org/abs/1707.07383