Epistemic Prediction and Planning with Implicit Coordination for Multi-Robot Teams in Communication Restricted Environments

This code is a small example implementation of the code from the paper "Epistemic Prediction and Planning with Implicit Coordination for Multi-Robot Teams in Communication Restricted Environments" published in ICRA 2023

Running the code (requires MATLAB - previously tested on 2023a)

Clone the repository

git clone https://github.com/laurenbramblett/epistemic-planning-mrs-icra23

Open the file main.m and press run.

Variables can be changed in the main.m script on lines 4-34. Additional variables including the partially-known map, agent parameters and dynamics, and the map can be manipulated in the utils/InitializeSimEnvironment.m script

Example Video

Usage

If using this repository, please cite our paper:

@INPROCEEDINGS{bramblett-epi-icra23,
  author={Bramblett, Lauren and Gao, Shijie and Bezzo, Nicola},
  booktitle={2023 IEEE International Conference on Robotics and Automation (ICRA)}, 
  title={Epistemic Prediction and Planning with Implicit Coordination for Multi-Robot Teams in Communication Restricted Environments}, 
  year={2023},
  volume={},
  number={},
  pages={5744-5750}
}