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Introduction

All the .py files can be executed directly:

  • FxT_control
    • FxT_QP.py: Fixed-time CBF-CLF QP controller for the single agent
    • FxT_QP_Swarm.py: Fixed-time CBF-CLF QP controller for a robot swarm
  • LTL_Schedule
    • sampling.py: provide a abstract system with uniform griding
    • ltl_ctrl.py: synthesis a feasible strategy with tulip toolbox
    • grid_sim.py: display the high-level strategy in 3D figure

Dependency

  1. Casadi
  2. Tulip Toolbox
  3. Omega