Re: [tulip-control-users] TuLiP receding horizon

[Ioannis F. <jfi...@gm...>]

On 11/20/17 8:38 AM, Joshua Shaffer wrote:
> I've read previous papers that state Tulip has the capability for performing its form of receding horizon control, but I can't seem to locate any reference to such in the readme files or online help.
>

Hi Joshua,

Indeed, there was an implementation of receding horizon control in earlier versions of
`tulip` [1]. Parts of `tulip` have been reimplemented since then (and API changed).
The newer version of receding horizon control is on branch `invariants` [2].
Possible alternatives you could consider are:

1. Install `tulip == 0.4a` and its dependencies, and run the old version.
   In principle this should be possible, but changes in operating systems may affect old
   versions of dependencies.

2. Use the current development version of `tulip`, which you can obtain
   from the GitHub repository. Receding horizon control has been reimplemented, and the
   result is on branch `invariants` [2]. It has not been merged into branch `master`.
   The most relevant commit is [3].

   The branch `invariants` is expected to work when the appropriate dependencies are present.
   So one option is to use the branch as is.

   A further option is updating that branch with respect to current `master`.
   I would expect this option to not be difficult, and require mainly resolving
   programming issues related to API changes.

If you do successfully merge `master` into `invariants`, it would be of interest
to open a pull request on GitHub, so that we can merge the changes back to `master`.

I have cc'ed the users' mailing list, where you can ask questions and
subscribe to receive discussion on questions by other users.

Please let us know in case you have further questions, via the mailing list,
or via the issue tracker on GitHub.

[1] https://github.com/tulip-control/tulip-control/blob/tulip-0.4a/examples/recedinghorizon/autonomous_car_road.py
[2] https://github.com/tulip-control/tulip-control/tree/invariants
[3] https://github.com/tulip-control/tulip-control/commit/fe12974a071bd20a3fec8b97731e53338f4982de

Best regards,
Ioannis Filippidis