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HJReachability / ilqgames

Iterative Linear-Quadratic Games!
https://hjreachability.github.io/ilqgames/
BSD 3-Clause "New" or "Revised" License
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Compute an approximate max over time #36

Closed dfridovi closed 4 years ago

dfridovi commented 4 years ago

This feature allows us to compute approximate maxes over time (despite the naming of this branch) instead of sums. Currently not ready for merge yet.

dfridovi commented 4 years ago

Ready for review now. I'm still planning to add a couple small changes but the main bulk of the feature is ready. Concretely, I still plan to add:

  1. a two player reachability example
  2. support for computing a actual approximate value
dfridovi commented 4 years ago

Update: I've added a two player collision avoidance example and plan to still add value computation before merging.

dfridovi commented 4 years ago

Todos:

  1. need to add constraints to both reachability examples since we're gonna end up comparing them to an HJ(I) computation that has input constraints
  2. need to add command line flags for control cost weights and exponential constant a in order to create a fancier plot showing the effect of each