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First Name: 
Zengjie
Last Name: 
Zhang

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This paper develops a correct-by-design controller for an autonomous vehicle interacting with opponent vehicles with unknown intentions. We define an intention-aware control problem incorporating epistemic uncertainties of the opponent vehicles and model their intentions as discrete-valued random variables. Then, we focus on a control objective specified as belief-space temporal logic specifications. From this stochastic control problem, we derive a sound deterministic control problem using stochastic expansion and solve it using shrinking-horizon model predictive control.

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This code is with the submitted manuscript "Decentralized Optimal Coverage Control of Constant-Speed Unicycle Multi-Agent Systems Subject to State- and Input-Dependent Constraints". The code consists of MATLAB scripts and should be run in MATLAB. No version limitation and no additional toolboxes are required.

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