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main.aux
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\relax
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\@writefile{toc}{\contentsline {section}{\numberline {1}Velocity and Acceleration}{2}{section.1}}
\@writefile{toc}{\contentsline {subsection}{\numberline {1.1}To obtain maximum velocity}{2}{subsection.1.1}}
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\@writefile{toc}{\contentsline {subsubsection}{\numberline {2.1.1}carrot\_planner}{3}{subsubsection.2.1.1}}
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\@writefile{lof}{\contentsline {figure}{\numberline {1}{\ignorespaces Dijkstra path\relax }}{4}{figure.caption.3}}
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\@writefile{toc}{\contentsline {section}{\numberline {3}Local Planner Selection}{6}{section.3}}
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\@writefile{toc}{\contentsline {paragraph}{How to tune \texttt {sim\_time}}{8}{section*.8}}
\@writefile{lof}{\contentsline {figure}{\numberline {11}{\ignorespaces \texttt {sim\_time} = 1.5\relax }}{8}{figure.caption.9}}
\@writefile{lof}{\contentsline {figure}{\numberline {12}{\ignorespaces \texttt {sim\_time} = 4.0\relax }}{8}{figure.caption.9}}
\@writefile{toc}{\contentsline {paragraph}{Velocity samples}{9}{section*.10}}
\@writefile{toc}{\contentsline {paragraph}{Simulation granularity}{9}{section*.11}}
\@writefile{toc}{\contentsline {subsubsection}{\numberline {3.1.3}DWA Local Planner : Trajactory Scoring}{9}{subsubsection.3.1.3}}
\@writefile{toc}{\contentsline {subsubsection}{\numberline {3.1.4}DWA Local Planner : Other Parameters}{10}{subsubsection.3.1.4}}
\@writefile{toc}{\contentsline {paragraph}{Goal distance tolerance}{10}{section*.12}}
\@writefile{toc}{\contentsline {paragraph}{Oscilation reset}{10}{section*.13}}
\@writefile{toc}{\contentsline {section}{\numberline {4}Costmap Parameters}{10}{section.4}}
\@writefile{toc}{\contentsline {subsection}{\numberline {4.1}footprint}{10}{subsection.4.1}}
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\@writefile{lof}{\contentsline {figure}{\numberline {14}{\ignorespaces steep inflation curve\relax }}{12}{figure.caption.15}}
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\@writefile{lof}{\contentsline {figure}{\numberline {16}{\ignorespaces gmapping resolution = 0.01. Notice the unknown dots on the right side of the image\relax }}{13}{figure.caption.16}}
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\@writefile{toc}{\contentsline {paragraph}{How voxel layer works}{13}{section*.17}}
\@writefile{toc}{\contentsline {paragraph}{Why ray tracing}{14}{section*.18}}
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\@writefile{toc}{\contentsline {paragraph}{Types of recovery behaviors}{16}{section*.23}}
\@writefile{toc}{\contentsline {paragraph}{Unstuck the robot}{16}{section*.24}}
\@writefile{lof}{\contentsline {figure}{\numberline {21}{\ignorespaces Simple recovery state in SMACH\relax }}{17}{figure.caption.25}}
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\@writefile{toc}{\contentsline {section}{\numberline {8}Problems}{18}{section.8}}