simulation contains code for the simulation and trajectory optimization data included in the paper. The README in the folder gives additional information.
Nature_ComputerVision (Python) Code used to get distance and speed data from video.
BLE_to_Rhombot_Nature (C++ Arduino) Code is used to communicate over Bluetooth from the computer to the Rhombot.
Rhombot_Nature (C++ Arduino) On-board code of the Rhombot.