Clone this repo to a good location.
Install the dependencies
] instantiate
] precompileIf you have any issues with Dubins.jl,
] rm Dubins
] add https://github.com/dev10110/Dubins.jl.gitTested with Dubins.jl v1.2.3 on Apr 7 2025.
Run the example in examples/full_example.jl: From the examples directory, run
julia --project full_example.jl
This will generate the gif that is currently in examples/gatekeeper.gif.
If the docs are already built (check the docs/build directory), simply start a live server to see the docs. From this directory run
julia -e 'using LiveServer; serve(dir="docs/build")'
Navigate to http://localhost:8000 to see the documentation.
To build the docs locally, from the docs directory run
julia --project make.jl
and then use the liveserver to serve the documentation. Building the docs locally will take a bit of time (~3 minutes).
Copyright (c) 2025 Devansh R Agrawal. All Rights Reserved.
Consider citing the underlying work:
@article{agrawal2024gatekeeper,
title={gatekeeper: Online safety verification and control for nonlinear systems in dynamic environments},
author={Agrawal, Devansh Ramgopal and Chen, Ruichang and Panagou, Dimitra},
journal={IEEE Transactions on Robotics},
year={2024},
publisher={IEEE}
}