This is the development repo for my master's thesis project: COLREGs-aware and MPC-based trajectory planning and collision avoidance for autonomous surface vessels

The repo includes folders for the MATLAB development as well as the thesis' latex project. Included in the MATLAB folder is a simulation script and simulation folders with agents, obstacles and other settings. Simulations are started from the simulate_multiagent script by uncommenting the line for desired simulation.

The simulator and supporting files were developed by Emil Thyri, the MPC with assist script and it's support functions were developed by me.