Highlights from
VirtualArena

  • build_dist(N, R)
    Written by Yann Roth during spring semester 2014
  • build_dist3D(N, R)
    Written by Yann Roth during spring semester 2014
  • consensusStepPlotFunction...
  • consensusStopPlotFunction...
    Input signals
  • distinguishable_colors(n_...
    DISTINGUISHABLE_COLORS: pick colors that are maximally perceptually distinct
  • findClosestIntersectionWi...
    findClosestIntersectionWithAPolytope finds the upper and lower bounds on
  • generateSamples( varargin )
    generateSamples
  • getMessage(MessageCode,va...
    % This file is part of VirtualArena.
  • jacobianSamples(f,xbar,va...
  • stepPlotFunctionEkf(agent...
  • stepPlotFunctionMpc(agent...
  • stepPlotFunctionPos(agent...
  • stepPlotFunctionPos(agent...
  • AcadoMpcOpSolver
  • BoxSet
    This file is part of VirtualArena.
  • ConsensusController
  • ConsensusSensor
  • Controller
    This file is part of VirtualArena.
  • CtMpcOp
    CtMpcOP Continuous-time Model Predictive Control Optimization Problem
  • CtSystem
    This file is part of VirtualArena.
  • DtMpcOp
    DtMpcOP Discrete-time Model Predictive Control Optimization Problem
  • DtSystem
    %DTSystem discrete time system
  • EkfFilter
    This file is part of VirtualArena.
  • EllipsoidalSet
    This file is part of VirtualArena.
  • EulerForward
    EulerForward is the implementation of the EulerForward discretization
  • FminconMpcOpSolver
  • GeneralSet
    This file is part of VirtualArena.
  • GeneralSystem
    This file is part of VirtualArena.
  • InitDeinitObject
    This file is part of VirtualArena.
  • InlineController
    This file is part of VirtualArena.
  • Integrator
    Integrator is the Abstract class of a discretization algorithm
  • MpcController
  • MpcOp
    MpcOp Model Predictive Control Optimization Problem
  • MpcOpSolver
    MpcOpSolver abstract class for and solver of MPC optimization problems
  • NoisyUnicycle
  • PolytopicSet
    This file is part of VirtualArena.
  • RK4
    RK4 is the implementation of the Runge-Kutta method RK4
  • RangeFinder
    RangeFinder
  • RemoteSystem
    RemoteSystem discre-time remote system through UDP link
  • Sensor
    Sensor
  • StateObserver
    This file is part of VirtualArena.
  • TrackingControllerECC14
    This file is part of VirtualArena.
  • UAV
    UAV Continuous time model of a UAV
  • UnderactuatedVehicle.m
  • UniGoToPoint
    This file is part of VirtualArena.
  • UniGoToPointPid
    This file is part of VirtualArena.
  • Unicycle
    Unicycle Continuous time model of a Unicycle
  • Vehicle
    Vehicle
  • VirtualArena
    This file is part of VirtualArena.
  • WrapLeaderController
  • quaternion
    This file is part of VirtualArena.
  • VirtualArenaLicense.m
    VirtualArena
  • addPathsOfVirtualarena.m
  • ex00VirtualArena.m
    Simulate same systems for different initial conditions
  • exIntegrators.m
    Custom integrators
  • exMpc.m
    Nonlinear Model Predictive Control
  • exRangeFinder.m
    Example of a Sensor
  • exStateObserver.m
    Extended Kalman Filter
  • exTrackingAlgorithmUAV.m
    Trajectory Tracking for Underactuated Vehicles
  • runAllExamples.m
  • runme.m
  • runme2D.m
    For more info see
  • runme3D.m
    For more info see
  • setNicePlot.m
    This file is part of VirtualArena.
  • View all files
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VirtualArena

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15 Jun 2014 (Updated )

IDE for Control Design and System Simulation

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Description

VirtualArena is Object Oriented Matlab IDE for Control Design and System Simulation implemented with the following objectives:
1) Avoid the re-implementation of functionalities that are common to most of the projects, such as:
- Discretization strategies (e.g. Euler forward , Runge Kutta, …)

- Methods of Jacobian computation for system linearization, e.g, symbolic or sample based

- Implementation of standard vehicles dynamics, such as Unicycle vehicle or UAV-like vehicle, and implementation of different attitude representation, e.g, Rotation Matrix or quaternion

- State observer automatic generation, e.g., Extended Kalman Filter (EKF)

- Structure for the implementation of Network-based controllers

- …

2) Establish a set of general interfaces to allow the independent design and integration of different components, (e.g., Vehicle models, controllers, sensors, observers, ...) and to enforce a reusable/transparent/easy-to-debug programming style.

Wiki page: wiki.epfl.ch/virtualarena

MATLAB release MATLAB 8.2 (R2013b)
Other requirements Info Update
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Updates
17 Jun 2014

Info updates

15 Jul 2014

FreeBSD license

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