FMT-MPC¶

A modular Fast Marching Tree (FMT) planning and control stack for ground vehicles. The stack blends a safety-aware global planner, a model predictive controller (MPC), a deterministic bicycle-model simulator, and rich diagnostics to plan, track, and analyze end-to-end driving scenarios.

Get started¶

• Introduction
• System Architecture
• Planning & Control
• Simulation & Visualisation
• Configuration & CLI
• Results