Safety_and_Attention

This repo contains the code used to run the simulation and hardware experiments for our 2021 RSS submission:
Safe Stochastic Motion Planning Under Constrained Sensing via Duality

To run simulation for testing

Each command is run in a seperate terminal:
roslaunch Safety_and_Attention sim_cam.launch
python commander.py
python robot_control_1.py
python robot_control_2.py
python robot_control_3.py
python unicycle_robot_control_0.py