Skip to content

Local Planning

Local planners turn the coarse global plan into short, collision-free trajectory segments, reacting to obstacles the global map is too slow or too coarse to capture. They plan from the trajectory controller's look-ahead point and feed segments to it continuously.

AirStack's baseline local planner is DROAN, in two implementations:

  • DROAN GL (droan_gl) — GPU-accelerated, true-sphere disparity expansion via OpenGL shaders; the default in the full_default stack
  • DROAN Local Planner (droan_local_planner) — the CPU implementation, selected by the full_droan_cpu stack

Both are task executors serving NavigateTask at /{robot_name}/tasks/navigate.

Specialized maneuvers are handled by the Takeoff Landing Planner, and candidate trajectories come from the Trajectory Library.