IDMP

IDMP stands for Interactive Distance Field for Mapping and Planning and is an algorithm that uses Gaussian Processes to model a Distance Field. You can find more information at this website.

We made the code freely available and it is compatible with ROS Noetic on Ubuntu 20.04. It is able to run in real-time scenarios on a CPU only system. As IDMP generates a Distance Field and a Gradient Field, it can easily be used for reactive planning with repulsive vectors or gradient based planners like CHOMP. I am also working on integrating IDMP into a policy for Riemannian Motion Policies which works really well.

Feel free to check out the code, run it and write me an E-Mail or Issue if there are any problems!