gt-star-lab / risk_adaptive_task_allocation

IROS 2021 Paper

Risk Adaptive Task Allocation - IROS 2021

This includes all the code that was used to generate the results found in the following paper:

Max Rudolph, Sonia Chernova, and Harish Ravichandar, "Desperate Times Call for Desperate Measures:Towards Risk-Adaptive Task Allocation", IROS 2021.

Numerical Experiments

The code for the numerical results can be found in iros_monte_carlo/mmonte_carlo_sim.m and the code for plotting the results is in iros_monte_carlo/plot_results.m. Be sure to change the data ID if you wish to plot data that you generate. Simply look in the /data/ folder to find the most recent data structure that corresponds to your run. The structure currently in the folder corresponds to the exact data we used for the IROS submission

Robot Experiments

To run the Robotarium experiment, run iros_robot_experiment/iros_robot_experiment.m. To run the sampling experiment, run iros_robot_experiment/iros_robot_sampling.m