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Created with Raphaël 2.2.024Mar23212097615Feb141087125Jan201918171613121020Dec191698765230Nov2928252331Oct3030Nov19Oct23Sep8Dec29Oct228Sep6Aug27Jul242221171098718Jun1128May22212014865429Apr2827222014139743130Mar2728Feb8Dec6529Nov282625221928Oct2214417Sep14Aug25Jul1076123Jun16151413108764330May292221191413125423Apr2086422Mar21201814Feb131211109754330Jan1219Dec1817151211986529Oct127Sep261817161210987630Aug28276Jul29Jun2825248May75432130Apr27262524232019181716131092Mar22Feb10Jan8629Dec2827262218161054130Nov29Voronoi Neighbouhbous function can nonw compute the vertices of a regionAdded debugging to UNderstand Voro++Added fonction for compuattion of Voronoi DiagramTested new leader trajectory and fixed bugsChanged default sepoints, added a possible trajectory for leaders, more utilitiesUpdated MPC Constraints and ParametersFixed Bug in the implementation of tracking errorAttempt to fix steady state tracking error for MPCAdded Backup PID for MPCAdded voronoi library to CMakeListsImproved MPC DebuggingTuning of the MPC Backup LQR ControllerImplemented MPC Controller with tuningChanges to the GUI and added MPC parameters to yaml and includeRenamed variables for LQRFixed error in yaml aquisitionStarted to merge with MPC Controller CodeUpdated control parameters for MPCFixed MPC Implementation inside TutorialControllerService.cppAdded Projected Gradient DescentIncreased GD stepsize and leader velocityFixed bug in gradient descent algorithm implementationcorrected bug in GDAdded momentum GD and added circle trajectory for leaderNew gradient step size and commented debugging in default controllerAdded Integrator for zero steady-state errorFixed LQR Tuning parameters (good tracking for CF13)re-introduced angle threshold and added debugging for topology configuration in StudentController.cppchanged controller mode to CONTROLLER_RATES and added debugging in defaultController.cppTuned LQR gains for default controller and integration gains for steady state errorFixed LQR TrackingAdded debugging comments to tune LQRChanged sine wave traj along y -axis and leader namesUpdated start point of gradient descent and fixed initial conditions in computeFollowerTrajectoryAdded debug comments in DefaultController.cpp for angle threshold management, Increased angle threshold in the corresponding .h and .yaml filesDisabled angle threshold and deleted integral gainAdded comments for debuggingWorking gradient descent by changing the time scale and the step sizeChanged default setpoint CF11Gradient Descent implementation