Receding Horizon Graph Search

This repository contains the source code for Receding Horizon Graph Search (RHGS), a MATLAB implementation of a graph-based receding horizon trajectory planner.

The code is developed with MATLAB R2022a. To run a simulation:

startup()
main()

More information is provided in our publication [1]. Please cite this publication if you find RHGS helpful for your work. The results of the publication can be reproduced by running

startup()
eval_rhgs()

This will take a while. The results are then found in the folder "results".

Requirements

• MATLAB 2022a
• MATLAB Toolboxes

Acknowledgements

This research is supported by the Deutsche Forschungsgemeinschaft (German Research Foundation) within the Priority Program SPP 1835 "Cooperative Interacting Automobiles" (grant number: KO 1430/17-1).

References

[1] P. Scheffe, M. V. A. Pedrosa, K. Flaßkamp and B. Alrifaee. "Receding Horizon Control Using Graph Search for Multi-Agent Trajectory Planning". TechRxiv. Preprint. https://doi.org/10.36227/techrxiv.16621963.v1

@article{Scheffe2021,
    author = "Patrick Scheffe and Matheus Vitor de Andrade Pedrosa and Kathrin Flaßkamp and Bassam Alrifaee",
    title  = "{Receding Horizon Control Using Graph Search for Multi-Agent Trajectory Planning}",
    year   = "2021",
    month  = "9",
    url    = "https://www.techrxiv.org/articles/preprint/Receding_Horizon_Control_Using_Graph_Search_for_Multi-Agent_Trajectory_Planning/16621963",
    doi    = "10.36227/techrxiv.16621963.v1"
}