Not an issue, but need instructions on implementing nmpc for multi robot setup and static obstacles

[qalab01]

Hi.

First of all, thanks for sharing the code. Its really nice to have different implementations all in one place.

Is it possible to run the decentralized nmpc for multi-robot setup with static obstacles. Because the paper its referenced to is based on Multi-Aerial robot setup with collision avoidance.

Could you provide instructions on it. Or is it possible with this state of code or not ?

Regards