Introduction

All the .py files can be executed directly:

• FxT_control
  • FxT_QP.py: Fixed-time CBF-CLF QP controller for the single agent
  • FxT_QP_Swarm.py: Fixed-time CBF-CLF QP controller for a robot swarm
• LTL_Schedule
  • sampling.py: provide a abstract system with uniform griding
  • ltl_ctrl.py: synthesis a feasible strategy with tulip toolbox
  • grid_sim.py: display the high-level strategy in 3D figure

Dependency

1. Casadi
2. Tulip Toolbox
3. Omega