Common tools and utilities related to Driving Games
Project description
dg-commons (Driving Games common tools)
This package contains common tools that ease the development and quick prototyping of autonomous vehicles with a focus on multi-agent planning and decision-making.
Highlights
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Simulator
todo... This simulator builds on a clear separation between the agent and the corresponding model.
Philosophy: Every dynamic entity of the simulation has a model and a corresponding agent
Collision resolution
todo...
Commonroad integration
Most of the tools natively integrate with the Commonroad scenarios.
Few scenarios used mainly for testing are available in the scenarios
folder.
For more scenarios consider cloning the Commonroad scenarios repository.
Installation
The package is distributed on PyPI. You can simply install it via
pip install dg-commons
to install also the developer tools use pip install dg-commons["all"]
.
Pre-commit hook (for developers)
Install pre-commit with
pip install pre-commit
pre-commit install
Run pre-commit with
pre-commit run --all-files
Contributors
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Publications
The tools contained in this package have contributed to the following publications:
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Posetal Games: Efficiency, Existence, and Refinement of Equilibria in Games with Prioritized Metrics - A. Zanardi*, G. Zardini*, S. Srinivasan, S. Bolognani, A. Censi, F. Dörfler, E. Frazzoli - IEEE Robotics and Automation Letters, 2022
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Factorization of Dynamic Games over Spatio-Temporal Resources - A. Zanardi, S. Bolognani, A. Censi, F. Dörfler, E. Frazzoli - Proceedings of the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
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Task-driven Modular Co-design of Vehicle Control Systems - G. Zardini, Z. Suter, A. Censi, E. Frazzoli - Proceedings of the 61th IEEE Conference on Decision and Control (CDC), 2022
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