Hydra is a domain-independent tool for Goal-Oriented control of Cyber-Physical Systems. Using state of the art techniques in AI Planning, Satisfiability Modulo Theories and Numeric Optimization, Hydra lets you derive goal-oriented, correct by construction strategies from high-level model of Hybrid Systems.

Hydra is freely available under the LGPL license at https://gitlab.sagelab.it/sage/hydra

Trajectory generation for differential drive.