Architecture & Algorithm References

Detailed documentation for Kompass internals, algorithms, benchmarks, and integrations is maintained on the EMOS Documentation site. The links below point to the canonical versions.

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Design Concepts

System architecture, component lifecycle, event-driven design, and data flow.

• Architecture & Design Concepts

Algorithms

Mathematical formulations, cost functions, and implementation details for each built-in algorithm.

• Control Algorithms – DWA, Pure Pursuit, Stanley, DVZ, Vision Followers

• Planning Algorithms (OMPL) – OMPL geometric planners, FCL collision checking

Benchmarks

CPU vs. GPU performance comparisons across algorithms and map resolutions.

• Benchmarks