├── .gitignore ├── .gitlab-ci.yml ├── .gitmodules ├── .readthedocs.yml ├── LICENSE ├── README.md ├── docs ├── Makefile ├── _static │ ├── 000_CADRL_2agents.png │ ├── 000_GA3C-CADRL-10_2agents.png │ ├── 000_RVO_2agents.png │ ├── a3c_20_agents.gif │ ├── collision_avoidance_figs.pdf │ ├── combo.gif │ ├── example.gif │ ├── formation_A.gif │ ├── formation_C.gif │ ├── gym_arch.png │ ├── jackal_iros18.gif │ └── random_2_agents.gif ├── conf.py ├── index.rst └── pages │ ├── agent.rst │ ├── architecture.rst │ ├── build_docs.rst │ ├── build_pypi.rst │ ├── config.rst │ ├── dynamics.rst │ ├── env.rst │ ├── example.rst │ ├── install.rst │ ├── policies.rst │ ├── sensors.rst │ ├── train_multiagent_rl.rst │ └── use_cases.rst ├── example.sh ├── gym_collision_avoidance ├── __init__.py ├── envs │ ├── Map.py │ ├── __init__.py │ ├── agent.py │ ├── collision_avoidance_env.py │ ├── config.py │ ├── dynamics │ │ ├── Dynamics.py │ │ ├── ExternalDynamics.py │ │ ├── UnicycleDynamics.py │ │ ├── UnicycleDynamicsMaxTurnRate.py │ │ └── __init__.py │ ├── policies │ │ ├── CADRL │ │ │ ├── __init__.py │ │ │ ├── pickle_files │ │ │ │ ├── __init__.py │ │ │ │ └── multi │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── nn_rl_training_param.p │ │ │ │ │ ├── no_constr_none │ │ │ │ │ └── RL_selfplay │ │ │ │ │ │ └── 4_agents_policy_iter_1000.p │ │ │ │ │ └── rotate_constr_right │ │ │ │ │ └── RL_selfplay │ │ │ │ │ └── 4_agents_policy_iter_1300.p │ │ │ └── scripts │ │ │ │ ├── __init__.py │ │ │ │ ├── multi │ │ │ │ ├── __init__.py │ │ │ │ ├── gen_plots_multi.py │ │ │ │ ├── gen_rand_testcases.py │ │ │ │ ├── gen_results_multi.py │ │ │ │ ├── global_var.py │ │ │ │ ├── nn_debug_multi.py │ │ │ │ ├── nn_navigation_value_multi.py │ │ │ │ ├── nn_rl_multi.py │ │ │ │ ├── pedData_processing_multi.py │ │ │ │ ├── pedData_processing_multi_old.py │ │ │ │ └── ros_nn.py │ │ │ │ └── neural_networks │ │ │ │ ├── __init__.py │ │ │ │ ├── multiagent_network_param.py │ │ │ │ ├── neural_network.py │ │ │ │ ├── neural_network_regr.py │ │ │ │ ├── neural_network_regr_multi.py │ │ │ │ ├── nn_training_param.py │ │ │ │ └── test_data │ │ │ │ ├── __init__.py │ │ │ │ ├── generate_sinusoids.py │ │ │ │ ├── generate_spirals.py │ │ │ │ └── generate_symmetric_sinusoids.py │ │ ├── CADRLPolicy.py │ │ ├── CARRLPolicy.py │ │ ├── CATKIN_IGNORE │ │ ├── DRLLongPolicy.py │ │ ├── ExternalPolicy.py │ │ ├── GA3CCADRLPolicy.py │ │ ├── GA3C_CADRL │ │ │ ├── __init__.py │ │ │ ├── checkpoints │ │ │ │ ├── IROS18 │ │ │ │ │ ├── network_01900000.data-00000-of-00001 │ │ │ │ │ ├── network_01900000.index │ │ │ │ │ └── network_01900000.meta │ │ │ │ ├── run-20190727_015942-jzuhlntn │ │ │ │ │ ├── network_01490000.data-00000-of-00001 │ │ │ │ │ ├── network_01490000.index │ │ │ │ │ └── network_01490000.meta │ │ │ │ └── run-20190727_192048-qedrf08y │ │ │ │ │ ├── network_01900000.data-00000-of-00001 │ │ │ │ │ ├── network_01900000.index │ │ │ │ │ └── network_01900000.meta │ │ │ └── network.py │ │ ├── InternalPolicy.py │ │ ├── LearningPolicy.py │ │ ├── LearningPolicyGA3C.py │ │ ├── NonCooperativePolicy.py │ │ ├── PPOCADRLPolicy.py │ │ ├── PPO_CADRL │ │ │ └── checkpoints │ │ │ │ ├── 2019-07-09-02-21-39-039832-00610 │ │ │ │ └── 2019-07-09-15-10-38-798399-00610 │ │ ├── Policy.py │ │ ├── RVOPolicy.py │ │ ├── StaticPolicy.py │ │ └── __init__.py │ ├── sensors │ │ ├── LaserScanSensor.py │ │ ├── OccupancyGridSensor.py │ │ ├── OtherAgentsStatesSensor.py │ │ ├── Sensor.py │ │ └── __init__.py │ ├── test_cases.py │ ├── test_cases │ │ ├── 10_agents_500_cases.p │ │ ├── 2_3_4_agents_500_cases.p │ │ ├── 2_agents_500_cases.p │ │ ├── 2_agents_500_cases_carrl.p │ │ ├── 2_agents_500_cases_carrl_seed000.p │ │ ├── 2_agents_500_cases_carrl_seed001.p │ │ ├── 2_agents_500_cases_carrl_seed002.p │ │ ├── 2_agents_500_cases_carrl_seed003.p │ │ ├── 2_agents_500_cases_carrl_seed004.p │ │ ├── 3_agents_500_cases.p │ │ ├── 4_agents_500_cases.p │ │ ├── 5_agents_500_cases.p │ │ ├── 6_agents_500_cases.p │ │ ├── 8_agents_500_cases.p │ │ └── hololens_and_cadrl.yaml │ ├── 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