SABER

This is the SABER submodule, part of the overall SABER project. To run the SABER project and install the necessary dependencies and packages, please go to the SABER_build repository and follow its instrunctions included in the README. The work is accepted at the Robotics and Automation Letters Journal (RA-L). Please cite the work as:

A. Schperberg, S. Tsuei, S. Soatto and D. Hong, "SABER: Data-Driven Motion Planner for Autonomously Navigating Heterogeneous Robots," in IEEE Robotics and Automation Letters, vol. 6, no. 4, pp. 8086-8093, Oct. 2021, doi: 10.1109/LRA.2021.3103054.

SABER: Data-Driven Motion Planner for Autonomously Navigating Heterogeneous Robots

Authors: Alexander Schperberg, Stephanie Tsuei, Stefano Soatto, and Dennis Hong.

Dependencies (pip install ~), tested and run on python 2.7

1. numpy
2. pandas
3. gym
4. torch
5. matplotlib
6. collections
7. random
8. casadi
9. mpl_toolkits
10. control
11. tensorflow
12. sklearn

SABER: Stochastic model predictive control and Autonomous Bots in uncertain Environments using Reinforcement learning