Implementation Regarding Publication "Fuzzy-Logic-based model predictive control: A paradigm integrating optimal and common-sense decision making"

DOI:10.4121/319168f0-bc62-4051-84c2-f32718c05386.v1
The DOI displayed above is for this specific version of this dataset, which is currently the latest. Newer versions may be published in the future. For a link that will always point to the latest version, please use
DOI: 10.4121/319168f0-bc62-4051-84c2-f32718c05386
Datacite citation style:
Surma, Filip (2025): Implementation Regarding Publication "Fuzzy-Logic-based model predictive control: A paradigm integrating optimal and common-sense decision making". Version 1. 4TU.ResearchData. software. https://doi.org/10.4121/319168f0-bc62-4051-84c2-f32718c05386.v1
Other citation styles (APA, Harvard, MLA, Vancouver, Chicago, IEEE) available at Datacite

Software

The code in this repository is used to implement and test a new algorithm called FLMPC (Fuzzy logic based model predictive control). To find an optimal path in search and rescue for multi-robot systems, it is common to use MPC with stochastic cost functions. We decided to replace stochastic cost functions with fuzzy cost functions (the exact reasoning can be found in the paper (there is no DOI yet) ). In this repository, MPC with stochastic cost function, FLMPC and bi-level FLMPC have been implemented. This code generates simulations with people and obstacles. Robots are then spawned within them. The drones have no knowledge of the environment, but they can sense the environment around them, but the measurements are noisy. The task for the drones is to find people as quickly as possible. We published raw data in seperate repository (https://doi.org/10.4121/2479c468-624b-49b6-9e2e-63bd633c9bc2) because they were taking over 14 GB of disk space.

History

  • 2025-02-18 first online, published, posted

Publisher

4TU.ResearchData

Format

MATLAB code (.m, .fig, .fis) files.

Funding

  • Netherlands Organisation for Scientific Research (grant code 023.004.015) Netherlands Organisation for Scientific Research

Organizations

TU Delft, Faculty of Aerospace Engineering, Department of Control & Simulation

To access the source code, use the following command:

git clone https://data.4tu.nl/v3/datasets/1284fd2b-663c-4c0d-9af7-7dc1ca390945.git

Or download the latest commit as a ZIP.