The four robots head for their respective destination values. At that time, control is performed to avoid collisions with other aircraft.
To use IPOPT solver with YALMIP, unzip the ipopt zip file of packeges and define the path to the folder in the matlab script file.
Clone this repository to your local environment and run four_mobile_robot_with_range_specification.m Then, a collision avoidance simulation of four robots will run as shown above.