Repository for Game Theory Work related to the IDSC Gokart Lab
Folder Content
- ForcesKinematicVersion_GameTheory (Developer: Enrico Mion)
- ForcesMPCPathFollowingDynamic_GameTheory (Developer: Enrico Mion)
- Manual_ibr (Developer: Thomas Andrews)
- shared_dynamic (Developer: Enrico Mion)
- Tire_analysis (Developer: Enrico Mion)
How to use the folder:
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Get a Forces Licence and download Forces.
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Open ForcesKinematicVersion_GameTheory Folder content:
A) Animation : contains files that draw animation of the vehicles
B) auxiliary_function : contains some auxiliary functions about torque vectoring
C) casadi : auxiliary functions about spline computation
D) c files : files for the go kart
E) constraints : contains the files in which you can define non linear constraints
F) draw_files : contains files to draw simulation results
G) models : contains the models of the optimization problem
H) objective_function : contains the objective functions for the optimization problem
I) parameters_vector : contains the functions that create the parameters vector + parameters script that can be modified by user
J) Run_simulation : Contains Files that run the simulations
K) index_script: contains scripts about indexing of the different controllers
L) old: folder that is going to be removed soon
Compile_controllers.m With this file you can basically run every simulations created with the kynematic model of the gokart. You must set the configuration at the beginning of the file:
NUM_Vehicles: 1,2,3 supported
Compiled: yes or no. Yes to skip compilation phase (Controller must be already compiled)
Simulation: yes or no. Yes to run the simulation
TestAlpha1shot: 'yes' or 'no'. yes if you want to test results with different alpha. It requires both IBR and PGalpha compiled (TO BE IMPROVED)
LEPunisher: yes or no. Cost function option: yes if we want to penalize the lateral error only if the gokart is on the left side of the centerline
For 2 vehicles only:
Condition: 'cen' and dec'. 'cen' means centralized controller (One controller for both), dec means decentralized controller (both agents have their own controller)
Game: 'IBR', 'PG'. Iterated Best Response vs Potential Game. IBR is 'dec' only
Alpha: yes or no. yes if you want consider in PG the following cost function: alpha1J1+alpha2J2+Jcol. Only available for 'cen' condition and 'PG'