settings.yaml

single_agent_planner: "RRTStar"

prediction_horizon: 10 # seconds
discretization_step: 1 # seconds 

model_predictive_controller:
  Q: [20, 20, 0]         # state error cost for a differential drive robot
  Qf: [30, 30, 0]        # state final error cost for a differential drive robot
  R: [10, 10]             # input cost for a differential drive robot
  P: [10, 10]             # input rate of change cost for a differential drive robot
  print_level: 0
  print_time: 0
  acceptable_tol: .1
  acceptable_iter: 1000

multi_robot_traj_opt:
  rob_dist_weight: 20
  obs_dist_weight: 10
  time_weight: 5

simulator:
  dt: .3
  scaling_factor: 6.0

environment:
  circle_obstacles: []
  rectangle_obstacles: []
  x_range: [0, 100]
  y_range: [0, 100]

robot_starts: []
  # - [80, 80, 0]
  # - [20, 20, 0]

robot_goals: []
  # - [20, 20, 0]
  # - [80, 80, 0]

robot_radii:
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  


target_v: 3.0

dynamics_models: 
  - Roomba
  - Roomba
  - Roomba
  - Roomba
  - Roomba
  - Roomba
  - Roomba
  - Roomba
  - Roomba
  - Roomba
  - Roomba
  - Roomba
  - Roomba
  - Roomba
  - Roomba