Iterative Linear-Quadratic Game Solver for Multi-Agent Nonlinear Robotic Interactions

This repo is inspired by ilqgames, an efficient iterative linear-quadratic approximations for nonlinear multi-player general-sum differential games.

How to install for development

Open the Julia REPL, enter the package manager using ], and run the following command to clone the code

    dev https://github.com/RobotJungle/iLQGameSolver.jl

The iLQGameSolver repository should be cloned in your ~/.julia/dev/ directory. Make changes and push your code.

How to use:

Refer to the notebook files in the examples folder.

Limitations of implementation:

• The solver is subject to failure given poor (randomly generated) initializations.
• Code is not optimized.