Multi agent path planning. decentralized iterative pareto RRT*

Multi agent, Decentralized Path planning based on RRT* and pareto optimality.

Contribution

Mitich nour. Bouzit zakaria.

special thanks to:

.Sri Manika Makam .Akanksha Patel .Abhishek Banerjee

Dependencies

1. Python 2.7 / 3.7
2. ubuntu 16.04
3. robotics system toolbox. MATLAB21

Instructions to run

---------------------solution-------------------------
for 10Agents : python rrt_star.py
for 3Agents : python 3Agents-XGoal-noPareto-rrtstar.py
for 3Agents pareto : python pareto_Xg-rrtstar
for single agent : python rrt.py
---------------------simulation-----------------------
run first abqr5.py , get proper outputs then
run run animation-multi-agent-rrt-star.m

The final paths of agents are saved in final_pathX.txt