04Act
Dynamic Replanning
starting…
drag to build a wall
The loop closed. A robot patrols between two points while its sensor sweeps continuously. Drag anywhere to build a wall in its way — but it only learns about the wall when it can actually see it, so obstacles you place out of sight sit dormant until the robot rounds the corner. The moment its route is cut, it replans from wherever it happens to be standing.
- Costmap fusion
- Line-of-sight discovery
- Path invalidation
- Replanning
Obstacles you paint are drawn faintly until the robot has actually observed them, then solid once they enter its costmap. That gap is the point: drop the sensor range right down and you can build a wall directly across its route without it noticing, and watch it commit to a path that no longer exists until it gets close enough to see.