├── LICENSE.txt ├── README.txt ├── control_strategies ├── Coop_strategy.m ├── PB_predecessor_groups.m └── PB_strategy.m ├── controller ├── MILP_CPLEX_controller.m ├── MIQP_CPLEX_controller.m ├── SCP_controller.m └── SCP_optimizer.m ├── core ├── MPC_init.m ├── Projection2D.m ├── QCQP_evaluate.m ├── blk.m ├── calculateAllSafetyDistances.m ├── clipDeltaUtoSteeringLimit.m ├── config.m ├── convert_to_MIP.m ├── convert_to_QCQP.m ├── decode_deltaU.m ├── discretize.m ├── evaluateInOriginalProblem.m ├── filter_iter.m ├── filter_scenario.m ├── generate_mpc_matrices.m ├── getShortestDistance.m ├── indices.m ├── kahn.m ├── list_controllers.m ├── list_scenarios.m ├── list_strategies.m ├── mpc_cost_function_matrices.m ├── plotOnline.m ├── prediction_matrices.m ├── replay.m ├── rm_dim.m ├── runSimulation.m ├── sampleReferenceTrajectory.m ├── startOptionsUI.m ├── strendswith.m ├── symmetric.m ├── transformedRectangle.m ├── vehicleColors.m └── vehicles_as_obstacles.m ├── main.m ├── models ├── 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