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Matlab Code/load_params.m

+% big-ass parameter file
+
+% sample selection information
+Tk = 3; % time slices
+K = 2; % constraint for interaction
+Pj = 50; % samples per time slice
+rho = 0.75;
+sig = 0.5;
+
+% environmental heatmap info
+mu = [1 1;3 1;8 3];
+gmmMeans = size(mu,1);
+sigma = 3*ones(1,2,gmmMeans);
+sigma(:,:,1) = [5 5];
+sigma(:,:,2) = [5 5];
+
+% multi-agent path planning information
+agent_number = 3;
+N = agent_number;
+starting_locations = [1,2;1 2.5;1 3];
+% goal_locations = [5,5;9,9];
+goal_final = [9,2;9 2.5;9 3];
+goal_locations = goal_final;
+token_ownership = true;
+environment_size = [0 10 0 5];
+threshold = 0.40;
+safe_radius = 1;
+step_size = 0.1;
+collision_radius = 0.5;
+move_speed = 1;
+planning_iterations = 300;
+max_sample_itr = 50*Pj; % get average 50 misses per sample point (?)
+distance_increment = 3;
+% [x_pts, y_pts] = generateObstacles(environment_size, threshold, step_size, starting_locations, goal_locations, safe_radius);
+% obstacle_points = [x_pts, y_pts];
+
+load("obstacle_saved.mat");
+
+% build environmental heatmap
+[gmPDF, Z, gmObj, x_area, y_area] = buildGMM(environment_size, mu, sigma);
+
+% plotting parameters
+lw = 1.5; % line width
+fs = 16; % font size
+ms = 10; % marker size
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