Folder | Description | Relevant to Report Section |
---|---|---|
BeeSolver | Implement a version of the Bee's Solver algorithm | Low-level Control System |
Controllers | Compares the MPC controller with the CBF controller | Comparing Controllers |
KinematicQP | Implements the CBF controller in various forms | Non-linear Control |
MPC-CA | Implements the MPC controller | Model Predictive Control |
OSQP-BF | Contains implementation of traffic CBFs | Non-linear Control |
Python-CBF | Implements Kinematic model in Python | Non-linear Control |
Simulator | Simulink model and utilities | Low-level Control System |
A reduced repository is available here with only the most necessary files: https://github.com/ben-kaye/bk-europ
OSQP may be required for some scripts.