Control Theory

Several agent control policies and agent ActionSpaceType are demonstrated. Run these examples as follows.

$ cd <path>/SMARTS
# Build the scenario `scenarios/sumo/loop`.
$ scl scenario build scenarios/sumo/loop
# Run SMARTS simulation with Envision display and `loop` scenario.
$ scl run --envision examples/<script_name>.py scenarios/sumo/loop
# Visit http://localhost:8081/ to view the experiment.

1. Chase Via Points

   • script: control/chase_via_points.py

   • Multi agent

   • ActionSpaceType: LaneWithContinuousSpeed

2. Trajectory Tracking

   • script: control/trajectory_tracking.py

   • ActionSpaceType: Trajectory

3. OpEn Adaptive Control

   • script: control/ego_open_agent.py

   • ActionSpaceType: MPC

4. Laner

   • script: control/laner.py

   • Multi agent

   • ActionSpaceType: Lane

5. Parallel Environments

   • script: control/parallel_environment.py

   • Multiple SMARTS environments in parallel

   • ActionSpaceType: LaneWithContinuousSpeed