MATLAB Simulation of Networked Model Predictive Control for Vehicle Collision Avoidance

This project is implemented by Bassam Alrifaee, from
the RWTH Aachen University, during his PhD thesis
titled "Networked Model Predictive Control for Vehicle Collision
Avoidance". Helpful contributions were made by the following students:
Janis Maczijewski, Marwan Chawa, Mohamed Hetaba, Mostafa Nabil,
Kevin Kostyszyn, Mark Azer, Masoumeh G. Mamaghani

Also thanks to Arthur Richards' work which provided a starting point
for the initial implementation.: A. G. Richards and J. P. How,
"Aircraft Trajectory Planning with Collision Avoidance using Mixed
Integer Linear Programming" in Proceedings of the American Control
Conference, 2002.

Users are requested to cite the following in any work
utilizing this software:

• This MATLAB simulation
  [1] B. Alrifaee. MATLAB Simulation of Networked Model Predictive Control
  for Vehicle Collision Avoidance, May 2017. https://doi.org/10.5281/zenodo.1252992
• PhD thesis
  [2] B. Alrifaee. Networked Model Predictive Control for Vehicle
  Collision Avoidance. PhD thesis, RWTH Aachen University, 2017.
• Distributed MPC
  [3] B. Alrifaee, F. J. He\sseler, and D. Abel. Coordinated
  Non-Cooperative Distributed Model Predictive Control for Decoupled
  Systems Using Graphs. In 6th IFAC Workshop on Distributed Estimation
  and Control in Networked Systems NecSys 2016, Tokyo, Japan, September 2016.
• Optimization
  [4] B. Alrifaee, J. Maczijewski, and D. Abel. Sequential Convex
  Programming MPC for Dynamic Vehicle Collision Avoidance. In 2017 IEEE
  Conference on Control Technology and Applications (CCTA), pages 2202–2207,
  Aug 2017.
  [5] B. Alrifaee, M. G. Mamaghani, and D. Abel. Centralized Non-Convex
  Model Predictive Control for Cooperative Collision Avoidance of
  Networked Vehicles. In Intelligent Control (ISIC), 2014 IEEE
  International Symposium on, pages 1583-1588, Oct 2014.

Video of Experimental Results:
https://youtu.be/X2syxG5GI6g

Video of the Simulation Results:
https://youtu.be/zS3UBx09O6M

RWTH Aachen University:
http://www.rwth-aachen.de/