Multi-agent trajectory planning: A decentralized iterative algorithm based on single-agent dynamic RRT*
- Sri Manika Makam
- Akanksha Patel
- Abhishek Banerjee
- Python 2.7
- ubuntu 16.04
- os
- math
- random
- numpy
- matplotlib.cm
- matplotlib.pyplot
- scipy.interpolate
Go to the directory where code is present and run the following command
python rrt_star.py
The final paths of agent 1, agent 2 and agent 3 are saved in final_path1.txt, final_path2.txt, final_path3.txt.