/collision-avoidance

Primary LanguagePython

Collision Avoidance Example

This is an example of using a Salty synthesized controller to control unmanned air vehicles (UAVs) following the collision avoidance protocol for UAVs in an airspace with multiple altitude layers.

Running the Example

Dependencies

  • Python 2

  • Salty

  • Pygame

Run sudo pip install pygame

  • Jinja2

Run sudo pip install jinja2

Steps:

  • Generate the controller

Run ./gen_ctrl.sh

First, this script will generate ctrl.salt by running the script gen_ltl.py which uses ltl_temp.tl as a template. then will invoke salty on ctrl.salt and generate a concrete implementation of the controller in python.

  • Run the simulation

Run python simulation.py

The script will load the controller and the environment and will run the simulation on the screen.