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interactive-motion-planning's Introduction

Interactive Motion Planning

Codebase for adaptive interactive mixed-integer MPC (aiMPC): an optimal control-based interactive motion planning algorithm.

  • Real-time Software-in-the-loop simulation in CARLA with Human-in-the-loop capability.
  • ROS (Noetic) for communication.

Key dependencies:

  • CARLA simulator
  • Gurobi
  • ROS Noetic
  • MATLAB (data analysis)

Scenario illustration

alt text

  • Blue vehicle is the ego vehicle and red vehicle is the human-driven vehicle.

shil

A case when ego merges ahead

highinfluence.mp4

A case when ego merges behind

lowinfluence.mp4

interactive-motion-planning's People

Contributors

autonomous-viranjan avatar

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