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Implementation of several multiagent trajectory generation algorithms

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Instructions (ACL)

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

multiagent_planning

This github repo features the implementation of 3 optimization techniques for multiagent trajectory generation.

cup_SCP

A centralized approach based on sequential convex programming.

Paper: Generation of collision-free trajectories for a quadrocopter fleet: A sequential convex programming approach

dec_iSCP

A decoupled approach based on incremental sequential convex programming.

Paper: Decoupled Multiagent Path Planning via Incremental Sequential Convex Programming

dmpc

A distributed approach based on distributed model predictive control.

Paper: Trajectory Generation for Multiagent Point-To-Point Transitions via Distributed Model Predictive Control

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