README.md

MultiAgent Collision Avoidance With Scaling On Complex Trajectories.

Give your configuration of the robot in MultiAgentCVX.m in function initalizeCars

as

	t0=0;tf=20;    
    x0=0;y0=2;xw1=8;yw1=2;xf=16;yf=2;

Without scaling all the robots would collide, here only the results are shown

Single line trajectories - Following Behaviour

Merging Behaviour in Smooth Trajectories

Unstructured Trajectories