mighty

MIGHTY Hermite-spline local planner (MIT ACL, RA-L 2026) with its acl-mapping voxel world model and a bridge to AirStack's NavigateTask / trajectory_controller seam — a map-based replacement for the DROAN local planner

Repository	castacks/asm_mighty
Type	ros_package
Maintainer	ajong@andrew.cmu.edu
License	BSD-3-Clause-Clear
Registered ref	v0.1.1
Declared compat	>=0.20.0-alpha.16 <0.21.0
Registry entry	modules/mighty.yaml

Install

From an AirStack checkout (AirStack Modules guide):

airstack module add https://github.com/castacks/asm_mighty --version v0.1.1
airstack up

module add pins the module in modules.repos and syncs it into the gitignored modules/ overlay; airstack up automatically includes the generated compose override that mounts it into the containers.

Compatibility: declared vs verified

The range >=0.20.0-alpha.16 <0.21.0 is DECLARED by the module author (copied from the module's module.yaml). The VERIFIED record — rows stamped exclusively by CI runs of the reusable module-system-tests workflow — lives in the registry's compat/ matrix (compat/mighty.yaml once stamped). A compatibility claim that isn't CI-verified rots: trust the matrix, read the declaration as intent.

Documentation

• Module README on GitHub @ v0.1.1
• A snapshot of the module repo was fetched into modules/mighty/ when this page was generated (docs deploy fetch step).

Registered stacks using this module

• full_mighty

Registry notes

Repo is PRIVATE until the AirStack agent study (ICRA 2027 paper, Sec. VI-C) concludes, then flips public — until then the repo/README links 404 for non-members. v0.1.1 is code-identical to v0.1.0 (README-only delta); v0.1.0 was validated end-to-end on Isaac Sim: 44/44 vendored gtests, synthetic smoke harness, empty-world NavigateTask flight, 7/7 practice pillar-field traversals, and 5/5 judged obstacle-route flights (min clearances 1.59–1.65 m vs a 1.0 m gate). Wrapper packages are BSD-3-Clause-Clear; vendored upstream packages (mighty, DecompROS2, acl-mapping) keep their own permissive licenses — see the module's VENDORED.md. Consumed by trunk reference stack full_mighty.