HiDO-MPC

HiDO-MPC

Experiment Videos

Simulations

Trajectory Comparison in Obstacle Density Experiments

Optimal vs Sub-Optimal

successful-1.mp4

Optimal (HiDO-MPC)

suboptimal-2.mp4

Sub-optimal (VMPC)

optimal-1.mp4

Optimal (HiDO-MPC)

suboptimal-1.mp4

Sub-optimal (VMPC)

Success vs Failure

successful-1.mp4

Success (HiDO-MPC)

failed-1.mp4

Failure (VMPC)

optimal-1.mp4

Success (HiDO-MPC)

failed-2.mp4

Failure (VMPC)

Trajectory Comparison in Narrow Corridor Experiments

HIDO.mp4

SMPC.mp4

SMPC

BMPC.mp4

BMPC

VMPC.mp4

VMPC

Implementation HiDO-MPC in Other Scenarios

Corner Scenario 1

Corner Scenario 2

Corner Scenario 3

Corner Scenario 4

U-Turn Scenario 1

U-Turn Scenario 2

U-Turn Scenario 3

U-Turn Scenario 4

Implementation in ResQbot

Good Alignment vs Bad Alignment

GoodAlignment.mp4

Good Alignment

BadAlignment.mp4

Bad Alignment

AUTONOMOUS End-to-end Casualty Extraction Scenario

Full_Operation_Third_View_small_cut.mp4

Third Camera View

Full_Operation_Robot_View_small_cut.mp4

Robot's Camera View

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