chengji253 / dmpc-for-multi-agent Goto Github PK
View Code? Open in Web Editor NEWDistributed model predictive control for multi-agent point-to-point transitions.
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liuzhenboo street-wang linqingbh zhulinche hihixuyang benzpeng jingtaoqi yinflight shupx sun785785dmpc-for-multi-agent's Issues
关于名为Trajectory Generation for Multiagent Point-To-Point Transitions via Distributed Model Predictive Control的一些问题，想请教下您
您好！
我看到您复现了该论文的程序，非常感谢您的分享，我正在尝试理解论文中的理论，但是我对于文中公式（23）到公式（24）通过泰勒展开的转换难以理解，可否请教您一下？如果方便的我可以添加您的微信，或者您也可以添加我的微信13682176698.
请教一下agentQPCollision.m中的问题
您好，感谢您的复现，我想请问一下
1.agentQPCollision.m中的目标函数是根据论文中哪部分编写的？即H1和f1是怎么得到的？
2.为什么用的是P（kci_i:Kci_i+2,i）而不是P（3kci_i-2:3Kci_i,i）？
3.C矩阵是做什么用的？
4.为什么Aieq和bieq没有把避免碰撞的约束加进去？
谢谢！
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