Our work is going to be presented at ICRA 2022. You can find the paper from here.

This code has been tested on OSX, but the author is working to test the code on Ubuntu18.04/20.04. External dependencies are

• Gurobi 9.1
• NLOPT
• Eigen3
• OSQP
• CMake3.3 or higher

mkdir build
cd build
cmake ..
make 

• Running the main code

./filter_position_opt

• Running the visualization code

python3 visualize_experiments.py

• Running the st graph code

python3 visualize_st.py

• Scenario Normal

• Scenario Stop

• Stopping Scenario

• Following

• Cut-In

Yutaka Shimizu: [email protected]
If you have any questions about the code or paper, feel free to contact the author either through Issues or email.