MVTP Benchmark

Benchmark suite and solver for Multiple Vehicle Trajectory Planning (MVTP) problems.

Supported Platforms:

Papers

Users must cite the following articles if they use the source codes to conduct simulations in their new publications.

Yakun Ouyang, Bai Li, Youmin Zhang, et al., "Fast and Optimal Trajectory Planning for Multiple Vehicles in a Nonconvex and Cluttered Environment: Benchmarks, Methodology, and Experiments," accepted by 2022 IEEE International Conference on Robotics and Automation (ICRA) on Jan. 31, 2022.
Bai Li, Yakun Ouyang, Youmin Zhang, et al, "Optimal Cooperative Maneuver Planning for Multiple Nonholonomic Robots in a Tiny Environment via Adaptive-Scaling Constrained Optimization," in IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 1511-1518, April 2021, doi: 10.1109/LRA.2021.3056346.

Download CasADi/MATLAB package from CasADi, extract binaries to casadi folder
1. [Optional] For best performance, users are encouraged to request ma27 linear solver code from HSL for IPOPT
2. follow the install instructions from Obtaining HSL
3. set linear_solver to ma27 in params/GetModelParams.m
Run RunBenchmark.m
Play with different benchmark cases and different parameters