GitHub - chenyx09/Reactive-modelling: Reactive modelling of the environment behavior for robotic systems with falsification and SVM

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Reactive modelling of the environment behavior for robotic systems with falsification and SVM

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Name		Name	Last commit message	Last commit date
Latest commit History 1 Commit
BlackBoxMPCLaneChange.m		BlackBoxMPCLaneChange.m
LC_data.mat		LC_data.mat
LC_falsification.m		LC_falsification.m
LC_mpc.m		LC_mpc.m
LC_reactive_bound.m		LC_reactive_bound.m
Readme.txt		Readme.txt
SPMD_preprocessing.m		SPMD_preprocessing.m
SVM_reactive_bound.m		SVM_reactive_bound.m
bezier_regression.m		bezier_regression.m
bezier_regressor.m		bezier_regressor.m
draw_circle.m		draw_circle.m
extract_reactive_bound_2region_soft_bdry.m		extract_reactive_bound_2region_soft_bdry.m
inner_approx_circle.m		inner_approx_circle.m
lane_change_staliro.m		lane_change_staliro.m
mpc_matrices.m		mpc_matrices.m
mss_asd.m		mss_asd.m
params.m		params.m
polygon_circle.m		polygon_circle.m
robot_falsification.m		robot_falsification.m
robot_reactive_bound.m		robot_reactive_bound.m
two_robot_sim.m		two_robot_sim.m
two_robot_staliro_shortest_time_reactive.m		two_robot_staliro_shortest_time_reactive.m

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Code for the paper "Counter-example Guided Learning of Bounds on Environment Behavior"

Platform: Matlab
Prerequisite: Cplex, S-Taliro, Gurobi, qpOASES

To reproduce the result for the two robot problem, run 'robot_falsification'
To reproduce the result for the lane change problem, run 'LC_falsification'

Index of important functions:

params.m:                                     Declaring parameters
SVM_reactive_bound.m:                         Main SVM function that generates the classifier
extract_reactive_bound_2region_soft_bdry.m:   Generate reactive bound function from the classifier
BlackBoxMPCLaneChange.m:                      Lane change simulator
two_robot_sim.m:                              Simulation of the two robot example to generate positive data
two_robot_staliro_shortest_time_reactive.m:   S-Taliro file to generate negative data for the two robot example
lane_change_staliro.m:                        S-Taliro file to generate negative data for the lane change example