Forked and modified from https://github.com/carlosluisg/multiagent_planning Main changes are the creation of functions to avoid repeating code between different files.
Tested in MATLAB2018a.
Instructions (in MATLAB)
cd ./dmpc/matlab
Run the file dmpc_soft_bound2.m (results will appear in result_dmpc.txt, that file should exist beforehand)
cd ./dec-iSCP
Run the file dec-iSCP.m (results will appear in result_deciSCP.txt, that file should exist beforehand)
Below is the original Readme.md
This github repo features the implementation of 3 optimization techniques for multiagent trajectory generation.
A centralized approach based on sequential convex programming.
A decoupled approach based on incremental sequential convex programming.
Paper: Decoupled Multiagent Path Planning via Incremental Sequential Convex Programming
A distributed approach based on distributed model predictive control.