/zono_RTD_turtlebot_example

A simple, self-contained example of RTD on a turtlebot.

Primary LanguageMATLAB

zono_RTD_turtlebot_example

This repo shows how to use RTD with forward reachable sets (FRSs) represented by zonotopes. We use turtlebot dynamics as our model system.

Setup Requirements

You must have CORA_2018 on your MATLAB path before running this code

How to Use

Run the script

turtlebot_example

The script will generate the turtlebot dynamics, compute an FRS, intersect it with an obstacle in workspace, allow the user to choose a trajectory parameter, and plot the slice of the FRS corresponding to the chosen parameter.

Authors

Patrick Holmes