WIP-mobile-robot-unicycle

[johnaoga]

This is a new benchmark inspired by this work of Antoine Girard

Preview https://dionysos-dev.github.io/Dionysos.jl/previews/PR354

[adrienbanse]

@johnaoga cc my e-mail, just revert if you want to go back to the coarser abstraction

[johnaoga]

Thank you! No worries!

[blegat]

The failure should be fixed by JuliaIntervals/IntervalLinearAlgebra.jl#135

[blegat]

You can rebase on master to fix the documentation build so that we can see the preview

[blegat]

We can see now that the controller says that it succeeded but there is not trajectory displayed at the end:
https://dionysos-dev.github.io/Dionysos.jl/previews/PR354/generated/Path%20planning%20sgmpc/
Anyone has an idea what's wrong ?

[adrienbanse]

@blegat @johnaoga The trajectory is only one point in the target set

Dionysos.System.Control_trajectory{SVector{3, Float64}, Any}(Dionysos.System.Trajectory{SVector{3, Float64}}(SVector{3, Float64}[[0.5, 0.5, 0.0]]), Dionysos.System.Trajectory{Any}(Any[]))

[johnaoga]

Thank you @adrienbanse for the investigation.

But, That's exactly what surprises me, since the starting point is set to be (0.5, -1.5), I would have expected to have at least 2 points in the trajectory, the starting point and the point (0.5, 0.5).

@adrienbanse @blegat But from your perspective do you think its answer is okay or it maybe a bug from the algorithm? In which case I could explore that direction

[adrienbanse]

@johnaoga The initial state is in the target set so the controller directly stops
So I set x0 = SVector(1.1, -1.6, 0.0), but then the state is uncontrollable

[adrienbanse]

@blegat @JulienCalbert Any idea why the example throws compute_controller_reach! terminated without covering init set ? Seems related to nondeterminism in the automaton..

[adrienbanse]

The example probably fails because of the self-loops in the automation. To mitigate this, let's try

• A larger timestep
• A finer abstraction

[adrienbanse]

@johnaoga The example is fixed, let's try to clean as much as possible the code and the presentation before merging

[johnaoga]

thank you @adrienbanse, i will clean (if still necessary) and add comments

[blegat]

@johnaoga is this closed by #383 ?

[johnaoga]

@johnaoga is this closed by #383 ?

I'm closing it now.

But the problem I'm trying to solve here is a bit different from the one in the master. Here, I have a stage cost, a terminal cost (i.e, an explicit definition of the time horizon) and a terminal constraint sets. I'll open a new PR whenever these capacities are available in Dionysos.