To use the demo:

1. Use the Columns and Rows sliders to change the size of the grid and then click on Create Grid.

2. Use the Obstacles slider to change the number of obstacles and click repeatedly on Add Obstacles until you're satisfied.

3. Click repeatedly on Set Start and Set Goal until you're satisfied with the configuration. 

4. Select the path planner with the drop-down menu and click on Compute Path.

For the MOAR Planner, you can change cost coefficients, as well as minimum and maximum collision distances. To see the effect of these distances in real time, you can use the Toggle Safety Map button and play with the sliders. The trajectory will be modified the next time you click on Compute Path, or in real time if Toggle Safety Map is not activated. This simplified version of the MOAR Planner does not consider the cost of damage and insertion, and assumes constant speed. Also, the risk-adaptation functions are not implemented, but a variation of the coefficients k1, k2, and k3 simulates the same behavior. Interesting values to try for the coefficients: 

• k1 = 1, k2 = 0, k3 = 0 and then adjust k2 and k3.

• k1 = 0, k2 = 1, k3 = 0 and then adjust k1 and k3.

To see more significant changes, play with the number and position of obstacles, start and goal positions, and collision distances. Enjoy!

The source code is available here.