Era-BMPC

This repository contains the code for the paper titled "An Efficient Risk-aware Branch MPC for Automated Driving that is Robust to Uncertain Vehicle Behaviors", accepted for presentation at CDC 2024.

Run

roslaunch cilqr_tree cilqr_tree_node.launch 

Highway

roslaunch simple_simulation simulation.launch scenario:=highway

Intersection

roslaunch simple_simulation simulation.launch scenario:=intersection

TODO

• Better README.md
• Cleanup
• Better implementation