Metadata-Version: 2.1
Name: dg-commons
Version: 0.0.24
Summary: Common tools and utilities related to Driving Games
Home-page: https://github.com/idsc-frazzoli/dg-commons
Author: Alessandro Zanardi
Author-email: azanardi@ethz.ch
License: UNKNOWN
Platform: UNKNOWN
Classifier: Development Status :: 3 - Alpha
Classifier: License :: OSI Approved :: GNU General Public License v3 (GPLv3)
Requires-Python: >=3.8, <3.10
Description-Content-Type: text/markdown
Provides-Extra: all
License-File: LICENSE

# dg-commons (Driving Games common tools)

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This package contains common tools that ease the development and quick prototyping of autonomous vehicles with a focus
on multi-agent planning and decision-making.

## Highlights

<table>
<tr>
<td>

![solutions-multilaneint5psets-solutions-solver2puresecuritymNEfact2noextra-joint-joint-0](https://user-images.githubusercontent.com/18750753/162696592-3ad8801d-21d8-4b5d-856f-fd799278a5bb.gif)

[Multi-agent simulation](#multi-agent-simulation)

<td>

![collision_gif](https://user-images.githubusercontent.com/18750753/172162568-71a557c5-7e38-4a87-929d-cbc96ba4ef2f.gif)

[Collision resolution](#collision-resolution)

<td>

![ezgif com-gif-maker (1)](https://user-images.githubusercontent.com/18750753/162698234-cdbee571-2a84-462e-95e8-d6f8b7cdad09.gif)
[Probabilistic sensors](#probabilistic-sensors)


</tr>
</table>

### Simulator

todo... This simulator builds on a clear separation between the agent and the corresponding model.

Philosophy: Every dynamic entity of the simulation has a model and a corresponding agent

### Collision resolution

todo...

### Commonroad integration

Most of the tools natively integrate with the Commonroad scenarios.
Few scenarios used mainly for testing are available in the `scenarios` folder.
For more scenarios consider cloning the [Commonroad scenarios repository](https://gitlab.lrz.de/tum-cps/commonroad-scenarios/-/tree/2020a_scenarios).


## Installation

The package is distributed on PyPI. You can simply install it via

```shell
pip install dg-commons
```

to install also the developer tools use `pip install dg-commons["all"]`.

## Pre-commit hook (for developers)

Install pre-commit with
```shell
pip install pre-commit
pre-commit install
```

Run pre-commit with
```shell
pre-commit run --all-files
```


## Contributors

...

## Publications

The tools contained in this package have contributed to the following publications:

- [**Posetal Games: Efficiency, Existence, and Refinement of Equilibria in Games with Prioritized Metrics**](https://ieeexplore.ieee.org/document/9650727) - _A. Zanardi*, G. Zardini*, S. Srinivasan, S. Bolognani, A. Censi, F. Dörfler, E. Frazzoli_ - IEEE Robotics and Automation Letters, 2022

- [**Factorization of Dynamic Games over Spatio-Temporal Resources**](https://www.research-collection.ethz.ch/handle/20.500.11850/560629) - _A. Zanardi, S. Bolognani, A. Censi, F. Dörfler, E. Frazzoli_ - Proceedings of the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
- [**Task-driven Modular Co-design of Vehicle Control Systems**](https://arxiv.org/abs/2203.16640) - _G. Zardini, Z. Suter, A. Censi, E. Frazzoli_ - Proceedings of the 61th IEEE Conference on Decision and Control (CDC), 2022
- ...


