settings.yaml

single_agent_planner: "RRTStar"

prediction_horizon: 5 # seconds
discretization_step: .5 # 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: 1.0e-4
  acceptable_iter: 100
  parallelize: 0

multi_robot_traj_opt:
  rob_dist_weight: 50
  obstacle_weight: 10
  time_weight: 5
  control_weight: 1
  goal_weight: 5

simulator:
  dt: .3
  scaling_factor: 6.0

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

robot_starts: 
  - [60, 20, 0]
  - [65, 80, 0]

robot_goals: 
  - [60, 80, 0]
  - [65, 20, 0]

robot_radii:
  - 5
  - 5

Roomba:
  max_speed: 10.0
  max_acc: 5.0
  max_d_acc: 3.0
  max_steer: 360
  max_d_steer: 180

target_v: 1.0

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