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Cassie Blue autonomously navigates on the second floor of the Ford Robotics Building at the University of Michigan. The total traverse distance is 200 m ( feet). The LiDAR and IMU data are fused in real-time to form an elevation map. The system consists of a low-frequency planning thread (5 Hz) to find an asymptotically optimal path and a high-frequency reactive thread (300 Hz) to accommodate robot deviation. The planning thread includes: a multi-layer local map to compute traversability for the robot on the terrain; an anytime omnidirectional Control Lyapunov Function (CLF) for use with a Rapidly Exploring Random Tree Star (RRT*) that generates a vector field for specifying motion between nodes; a sub-goal finder when the final goal is outside of the current map; and a finite-state machine to handle high-level mission decisions. The paper [] provides full details on the reactive planning system. The software for the planning package is public: [
