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This repository contains the source code of the simulation section of paper [1].

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DR-IRMPC

Overview

This repository is about to share the source code of the simulation section of article [1]. In this example, we use DR-IRMPC to steer two agents toward their targets in the presence of a randomly-moving obstacle. For more details please check [1].

Prerequisites and usage

To run this code you need Python 3.9 or higher. For executing the code follow these steps:

  1. Go to the project's directory.
  2. Install the requirements: pip install -r requirements.txt.
  3. Change the working directory to the source folder: cd source.
  4. Run the main_multi_agent.py file: python main_multi_agent.py.

The parameters of the problem can be modified in params.py.

Reference

If you use this code in your research, we would appreciate your citations to the following papers:

[1] Alireza Zolanvari and Ashish Cherukuri. "Iterative risk-constrained model predictive control: A data-driven distributionally robust approach." In 2022 European Control Conference (ECC) (pp. 1578-1583). [PDF]

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This repository contains the source code of the simulation section of paper [1].

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