multiagent_planning

This github repo features the implementation of 3 optimization techniques for multiagent trajectory generation.

cup_SCP

A centralized approach based on sequential convex programming.

Paper: Generation of collision-free trajectories for a quadrocopter fleet: A sequential convex programming approach

dec_iSCP

A decoupled approach based on incremental sequential convex programming.

Paper: Decoupled Multiagent Path Planning via Incremental Sequential Convex Programming

dmpc

A distributed approach based on distributed model predictive control.

Paper: Trajectory Generation for Multiagent Point-To-Point Transitions via Distributed Model Predictive Control