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.

翻译：本文介绍了最近开发的运动规划算法HyRRT（arXiv:2210.15082v1 [cs.RO]）和HySST（arXiv:2305.18649v1 [cs.RO]）的两种C++/Open Motion Planning Library实现。具体而言，cHyRRT作为HyRRT算法的实现，能够以概率完备性为混合系统生成运动规划问题的解；而cHySST作为渐进近最优HySST算法的实现，能够计算轨迹以解决混合系统的最优运动规划问题。cHyRRT适用于不要求最优解的运动规划问题，而cHySST则适用于在所有可行解中优先寻求最优解的问题。本文详细阐述了两款工具的结构、组件及使用方法，并通过示例展示了该工具箱的核心功能。