Detect Stalled Trajectories

[Andrewyx]

Description of the task

We must find some way to declare an existing trajectory as "stalled" (i.e. there is no reasonable way for the robot to return to this trajectory, and hence we must regenerate it).

Acceptance criteria

• Establish metrics/logic for parameters/threshold of a stall
• Implement it such that trajectories are regenerated only in cases of a stall (when the destination remains the same)

Blocked By