DistributedOnlineTrajectoryOptimization

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DistributedOnlineTrajectoryOptimizationmodel <h2>DE Director</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>startTime</td><td>&nbsp;</td><td>null</td></tr><tr><td>stopTime</td><td>&nbsp;</td><td>null</td></tr><tr><td>stopWhenQueueIsEmpty</td><td>true</td><td>true</td></tr><tr><td>synchronizeToRealTime</td><td>false</td><td>false</td></tr><tr><td>enforceMicrostepSemantics</td><td>false</td><td>false</td></tr></table> <h2>InstanceOfRobot4</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>Rz_init</td><td>0</td><td>0</td></tr><tr><td>Y_init</td><td>-5</td><td>-5</td></tr><tr><td>X_init</td><td>100</td><td>100</td></tr><tr><td>V_in</td><td>10.0</td><td>10.0</td></tr><tr><td>W_in</td><td>pi/5</td><td>0.628318530718</td></tr><tr><td>RobotID</td><td>2</td><td>2</td></tr><tr><td>CurrentMeasurement</td><td>{ID = 0, estimatedIntruderPosition = [0, 0], intruderCovariance = [0, 0; 0, 0], robotPosition = [0, 0], time = 0}</td><td>{ID = 0, estimatedIntruderPosition = [0, 0], intruderCovariance = [0, 0; 0, 0], robotPosition = [0, 0], time = 0}</td></tr><tr><td>N_Particles</td><td>Nparticles</td><td>20</td></tr><tr><td>SpeedLimit</td><td>SpeedLimit</td><td>20.0</td></tr></table> <h2>InstanceOfRobot3</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>Rz_init</td><td>0</td><td>0</td></tr><tr><td>Y_init</td><td>-10</td><td>-10</td></tr><tr><td>X_init</td><td>100</td><td>100</td></tr><tr><td>V_in</td><td>10.0</td><td>10.0</td></tr><tr><td>W_in</td><td>pi/5</td><td>0.628318530718</td></tr><tr><td>RobotID</td><td>3</td><td>3</td></tr><tr><td>CurrentMeasurement</td><td>{ID = 0, estimatedIntruderPosition = [0, 0], intruderCovariance = [0, 0; 0, 0], robotPosition = [0, 0], time = 0}</td><td>{ID = 0, estimatedIntruderPosition = [0, 0], intruderCovariance = [0, 0; 0, 0], robotPosition = [0, 0], time = 0}</td></tr><tr><td>N_Particles</td><td>Nparticles</td><td>20</td></tr><tr><td>SpeedLimit</td><td>SpeedLimit</td><td>20.0</td></tr></table> <h2>InstanceOfRobot2</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>Rz_init</td><td>0</td><td>0</td></tr><tr><td>Y_init</td><td>5</td><td>5</td></tr><tr><td>X_init</td><td>100</td><td>100</td></tr><tr><td>V_in</td><td>10.0</td><td>10.0</td></tr><tr><td>W_in</td><td>pi/5</td><td>0.628318530718</td></tr><tr><td>RobotID</td><td>1</td><td>1</td></tr><tr><td>CurrentMeasurement</td><td>{ID = 0, estimatedIntruderPosition = [0, 0], intruderCovariance = [0, 0; 0, 0], robotPosition = [0, 0], time = 0}</td><td>{ID = 0, estimatedIntruderPosition = [0, 0], intruderCovariance = [0, 0; 0, 0], robotPosition = [0, 0], time = 0}</td></tr><tr><td>N_Particles</td><td>Nparticles</td><td>20</td></tr><tr><td>SpeedLimit</td><td>SpeedLimit</td><td>20.0</td></tr></table> <h2>InstanceOfRobot</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>Rz_init</td><td>0</td><td>0</td></tr><tr><td>Y_init</td><td>10</td><td>10</td></tr><tr><td>X_init</td><td>100</td><td>100</td></tr><tr><td>V_in</td><td>10.0</td><td>10.0</td></tr><tr><td>W_in</td><td>pi/5</td><td>0.628318530718</td></tr><tr><td>RobotID</td><td>0</td><td>0</td></tr><tr><td>CurrentMeasurement</td><td>{ID = 0, estimatedIntruderPosition = [0, 0], intruderCovariance = [0, 0; 0, 0], robotPosition = [0, 0], time = 0}</td><td>{ID = 0, estimatedIntruderPosition = [0, 0], intruderCovariance = [0, 0; 0, 0], robotPosition = [0, 0], time = 0}</td></tr><tr><td>N_Particles</td><td>Nparticles</td><td>20</td></tr><tr><td>SpeedLimit</td><td>SpeedLimit</td><td>20.0</td></tr></table> <h2>MicrostepDelay</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>_flipPortsHorizontal</td><td>true</td><td>true</td></tr></table> <h2>Merge2</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>discard</td><td>true</td><td>true</td></tr></table> <h2>Merge</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>discard</td><td>true</td><td>true</td></tr></table> <h2>Visualization</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>RobotCount</td><td>RobotCount</td><td>4</td></tr></table> <h2>intruder1</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>Y_init</td><td>0</td><td>0</td></tr><tr><td>Rz_init</td><td>0</td><td>0</td></tr><tr><td>W_in</td><td>pi/5</td><td>0.628318530718</td></tr><tr><td>X_init</td><td>0</td><td>0</td></tr><tr><td>V_in</td><td>10</td><td>10</td></tr><tr><td>value</td><td>Intruder._location.getLocation()</td><td>{760.0, 130.0}</td></tr></table>