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FISS Planner

Fast Iterative Search and Sampling trajectory planners for autonomous driving: FISS (RA-L 2022) and FISS+ (IROS 2023), with the FOP and FOP+ baselines, in one C++17 core with Python bindings and ROS 1 / ROS 2 nodes, Lanelet2 / CommonRoad / CARLA support, an optional QP smoother and an MPC controller.

FISS+ driving through dense traffic in CARLA

▶ Interactive replay: step through CommonRoad scenarios with every planner, including the candidate trajectories each one explored.
FOP, FISS and FISS+ on the same merge Dense traffic on US-101
Left turn at a T-junction Overtaking a parked car in CARLA
  • Concepts: reference line, corridor, sampling, the four search strategies, validation, smoothing, stitching and control.
  • Python: pip install fiss-planner, planners, LocalPlanner, maps, controllers.
  • ROS: nodes, topics, parameters, Lanelet2, runtime switching.
  • Benchmarks: CommonRoad, ROS 2 bag replay and CARLA results, and how to reproduce them.