FFStreams++: Fast Heuristic Search for Autonomous Maneuver Planning

🚗 A fast and flexible planning framework combining configuration and trajectory streams for real-time maneuver planning.

🔍 Features

• Hybrid planning with fast heuristics
• Trajectory prediction using QCNet
• Integration with CommonRoad benchmark
• Apollo-compatible trajectory publishing

📁 Contents

• ffstreams/: core FFStreams++ implementation (Python)
• ffplanner/: FastForward heuristic planner on PDDL2.1 (C++)
• auto_driving/: different maneuvers PDDL2.1 domains
• scenarios/: benchmark scripts for CommonRoad
• metrics/: metrics for evaluation (OPM,TTC)
• prediction/: QCNet Python inference

📽 Demo

🧠 Algorithms

• Weighted A* on configuration graph
• Trajectory stream refinement in Frenet
• Prediction-aware planning with uncertainty

📚 Related Paper

Jamal, M. et al. FFStreams: Fast Search With Streams for Autonomous Maneuver Planning. IEEE RA-L, 2024.