# MichaelFYang/far_planner

Fast, Attemptable Route Planner for Navigation in Known and Unknown Environments

Repository: https://github.com/MichaelFYang/far_planner
Canonical: https://ross.abutalabs.com/products/far_planner
Language: C++
License Family: other
Last push: 2026-05-25T20:52:23+00:00

## Health v2 (maintenance only)
Score: 70/100 (v2, computed 2026-09-03T02:20:16.233290+00:00)
- activity 84, release rhythm 35, longevity 100
- inputs: {"age_days": 1814, "days_push": 100, "days_rel": null, "gap_med": null, "n_releases_24m": 0}
- flags: no_releases, no_license
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 1011, forks 208 (observed 2026-08-28T04:03:13.221670+00:00)

## What it is
FAR Planner is a C++/ROS route planner for autonomous robots that builds a dynamically updated visibility graph to plan paths in both known and unknown environments. It handles dynamic obstacles by disconnecting and reconnecting visibility edges and was used by the CMU-OSU team in the DARPA Subterranean Challenge.

## Use cases
- plan paths for a robot in unknown environments
- replan routes quickly around dynamic obstacles
- navigate a ground vehicle using a prior map
- build a visibility graph while exploring a subterranean site
- integrate a global planner into a ROS-based autonomous exploration stack

## When to choose
- you need fast global path planning (millisecond-level) in a ROS navigation stack
- your robot must handle both known maps and unexplored areas
- you want a planner proven in real-world competitions like the DARPA SubT Challenge

## When to avoid
- you need a planner outside the ROS ecosystem
- you require a permissively licensed dependency (the repo has no license)
- you need local/low-level motion control rather than global route planning

## Facets
- artifact type: library
- maturity: stable
- function: robotics, simulation
- domain: robotics, autonomous-vehicles
- platform: cpp
- tags: path-planning, visibility-graph, ros, autonomous-navigation, unknown-environments, cmu, algorithm, algorithms, linux

## Member repositories
- MichaelFYang/far_planner (main) score 70

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:03:13.221670+00:00.
- Health v2: computed from the inputs above; adoption is never an input.
- Inferred fields (summary, facets, guidance): AI-extracted, prompt v1, taxonomy v1, on 2026-08-30T07:11:48.536660+00:00, confidence not recorded.
  - readme: https://github.com/MichaelFYang/far_planner (fetched 2026-08-28T04:03:13.221670+00:00, sha 3877e6b56b01)
- Data as of 2026-08-30T08:39:29.467469+00:00.