The use of the function quadprog from MATLAB's Optimization toolbox may be necessary when executing the following lines from create_uni_barrier_certificate.m or create_si_barrier_certificate.m
An alternative function to generate vnew should contribute to making the code backwards compatible with older versions of MATLAB.
NOTE: I have only tested the Optimization toolbox that comes with MATLAB R2013a with the Robotarium code successfully, therefore, older versions of the Optimization toolbox may require a different use of quadprog. A potential open-source alternative option is found here with information about its usage here. After registering with this third-party site, you may download the available package, move the unzipped directory to your local /robotarium-matlab-simulator directory, and replace the line (as found in /utilities/barrier_certificates/create_si_barrier_certificate.m and /utilities/barrier_certificates/create_uni_barrier_certificate):
vnew = quadprog(H, double(f), A, b, [], [], [], [], [], opts); % For newer versions of MATLAB
With
vnew = qps_as(H,double(f),[],[],0); % As tested for versions of MATLAB R2012a and older
Also, be sure to comment out the following line from each of the aforementioned files:
opts = optimoptions(@quadprog,'Display','off');
The functions qpas, qpip, or qps_ip may also be used instead of qps_as. Also, only qps_as and qps_ip produced the smoothest navigation output, yet, the exclusion of A and b as input to these two function calls leaves the vehicles ignoring the pre-defined safety_radius. Finally, using qps_mq caused my instance of MATLAB to shutdown, so consider avoiding that function call.
The use of the function
quadprogfrom MATLAB's Optimization toolbox may be necessary when executing the following lines fromcreate_uni_barrier_certificate.morcreate_si_barrier_certificate.mand
An alternative function to generate
vnewshould contribute to making the code backwards compatible with older versions of MATLAB.NOTE: I have only tested the Optimization toolbox that comes with MATLAB R2013a with the Robotarium code successfully, therefore, older versions of the Optimization toolbox may require a different use of
quadprog. A potential open-source alternative option is found here with information about its usage here. After registering with this third-party site, you may download the available package, move the unzipped directory to your local /robotarium-matlab-simulator directory, and replace the line (as found in/utilities/barrier_certificates/create_si_barrier_certificate.mand/utilities/barrier_certificates/create_uni_barrier_certificate):With
Also, be sure to comment out the following line from each of the aforementioned files:
The functions
qpas,qpip, orqps_ipmay also be used instead ofqps_as. Also, onlyqps_asandqps_ipproduced the smoothest navigation output, yet, the exclusion ofAandbas input to these two function calls leaves the vehicles ignoring the pre-definedsafety_radius. Finally, usingqps_mqcaused my instance of MATLAB to shutdown, so consider avoiding that function call.