%%%% Based on paper: Robust Model Predictive Control for Aircraft Intent-Aware Collision Avoidance, available here: https://www.arxiv.org/abs/2408.06999. %%%%%%%
You need to have Casadi on Matlab to run the code
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First run "iniRMPC.m" to generate "initialRMPC.mat" as a feasible initial guess for the MPC.
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Classic MPC.m , ScenarioMPC.m and nominaMPC.m provide Matlab codes for the classic MPC, scenario-tree MPC, and nominal path (without safety constraint), respectively. These codes generate "determ.mat", "real{1:20}.mat" and "nominal.mat" data, respectively. Note that "real{1:20}.mat" corresponds to different uncertainties and "real10.mat" corresponds to the case without uncertainty.
3)"intentMPC.m" and "nonIntentMPC.m" are for showing intent-based MPC and without intent MPC. These codes are for comparing the intent-awareness value and generating "intent.mat" and "nonintent.mat" data files.
- All these data (with ".mat") and ".png" files (aircraft images) are used in "fig.m". This Matlab code generates all figures, used in the paper, called "f{1:7}.pdf".