FAQ

Q: Can I use this for my team's robot?

A: Yes! It will require a lot of tuning and testing, but yes.

Q: Has this been used on a real robot before?

A: Yes, we have used it successfully for autos in the 2024 competition season.

Q: How does it work?

It's a complex system, but the high level sequence looks like this:

Pre-processing:

• Obstacle data stored in a json file
• Obstacles are inflated so robots don't clip
• Visiblity graph is calculated

Each path:

• Start and target points are added to the visibility graph
• A-star is used to find the shortest path
• Bezier curves are used on the corners for smoothing
• Paths (Optionally) converted to WPILib Trajectories for easy following & more optimiziations.

Q: How fast is it?

Oxplorer is designed to be run fast enough to be run every loop. However, it is not quite there yet, and optimizations are on the way. Check out the performance page for more info.

Q: Is it stable?

While there are no bugs I'm aware of right now, it has not been truly battle-tested, and I'm sure there are many bugs still lurking. If you find any bugs, please report them!