GAMARA

It stands for GuAranteed Multi-Agent Reach Avoid.

We implement our method on top these two tools:

we used ALTRO v0.1 which is uploaded in this repository.

Requirements

Julia version : 1.3.1

Install "Plots" library before execution.

c++ 11

Steps for execution

Run Altro code

Be careful to set julia working directory same as the directory
nom_tr.txt will be generated which is nominal controller

Run Makefile to compile project

there will be two execution files

run abs_syn to do abstraction and synthesis

if you faced segmentation fault or std::bad_alloc() it means there is not enough ram

run simulation to test the synthesized controller to see the performance of controller with perturbed model

Steps for developement

Modify ALTRO (Planner):

create *.jl file similar to examples
change your model in dynamics! function
select number of points and sampling time
enter the penalty functions

Modify Scots (Robustifier)

create a *.hh similar to examples (you dont need to change cpp files)
enter time augmented dynamics ( one extra state variabe x_dot=1)
select all paramets in parameters class

Directories structure

src

This folder contains Scots library files.

TrajectoryOptimization

ALTRO Library files.

Examples

Here there is a folder for each example which includes a Julia file for Altro and also example codes for ABCD.