cHyRRT and cHySST: Two Motion Planning Tools for Hybrid Dynamical Systems

Abstract: This paper describes two C++/Open Motion Planning Library implementations of the recently developed motion planning algorithms HyRRT arXiv:2210.15082v1 [cs.RO] and HySST arXiv:2305.18649v1 [cs.RO]. Specifically, cHyRRT, an implementation of the HyRRT algorithm, is capable of generating a solution to a motion planning problem for hybrid systems with probabilistically completeness, while cHySST, an implementation of the asymptotically near-optimal HySST algorithm, is capable of computing a trajectory to solve the optimal motion planning problem for hybrid systems. cHyRRT is suitable for motion planning problems where an optimal solution is not required, whereas cHySST is suitable for such problems that prefer optimal solutions, within all feasible solutions. The structure, components, and usage of the two tools are described. Examples are included to illustrate the main capabilities of the toolbox.