GAMARA

It stands for GuAranteed Multi-Agent Reach Avoid.

We implement our method on top these two tools:

1. Scots : https://gitlab.lrz.de/matthias/SCOTSv0.2
2. ALTRO : https://github.com/RoboticExplorationLab/TrajectoryOptimization.jl

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

Requirements

1. Julia version : 1.3.1

• Install "Plots" library before execution.

2. c++ 11

Steps for execution

1. Run Altro code

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

2. Run Makefile to compile project

• there will be two execution files

3. run abs_syn to do abstraction and synthesis

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

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

Steps for developement

1. 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

2. 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.