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].
To run this code you need Python 3.9 or higher. For executing the code follow these steps:
- Go to the project's directory.
- Install the requirements:
pip install -r requirements.txt. - Change the working directory to the source folder:
cd source. - Run the
main_multi_agent.pyfile:python main_multi_agent.py.
The parameters of the problem can be modified in params.py.
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]