Code and video demonstrations from the paper titled ``Distributed Model Predictive Control for Heterogeneous Platoons with Affine Spacing Policies and Arbitrary Communication Topologies'' submitted to ITSC 2024.

The code for the simulation experiments are in the folder platoon-gym and the code for the hardware experiments (a ROS2 package) are in the folder convoy_ros.

A video demonstration of two DMPC algorithms using CTH and CDH on four F1Tenth vehicles can be found here: https://youtu.be/8WLfXJrOMLc.