cHyRRT and cHySST: Motion Planning Tools for Hybrid Dynamical Systems in OMPL

This paper presents two implementations of the recently developed motion planning algorithms HyRRT [1] and HySST [2]. Specifically, cHyRRT, an implementation of the HyRRT algorithm, generates solutions to motion planning problems for hybrid systems with a probabilistic completeness guarantee, while cHySST, an implementation of the asymptotically near-optimal HySST algorithm, finds near-optimal trajectories based on a user-defined cost function. The implementations align with the theoretical foundations of hybrid system theory and are designed based on OMPL, ensuring compatibility with ROS while prioritizing computational efficiency. The structure, components, and usage of both tools are detailed. A modified pinball game example is provided to illustrate the tools’ key capabilities.