A path planning problem for a vehicle using the bycicle model

1. compile the diff_drive.cc file

  a) edit the Makefile and adjust the CUDDPATH to the location where the cudd library is installed.

  b) you should be able to compile the program simply by

  $ make

2. execute 

  $./diff_drive

  which produces

  ./diff_drive_ss.bdd
  ./diff_drive_obst.bdd
  ./diff_drive_target.bdd
  ./diff_drive_controller.bdd

3. simulate the closed loop in Matlab 

  a) you need to compile the mexfile first (see the readme in $(SCOTSROOT)/mfiles/mexfiles )

  b) in Matlab add the path and run the simulation 

   >> addpath(genpath('../../../mfiles'))
   >> diff_drive

4. information on the example are found in

- Reissig, G., Weber, A., & Rungger, M. (2015). Feedback Refinement Relations
  for the Synthesis of Symbolic Controllers. arXiv preprint arXiv:1503.03715.

- Zamani, M., Pola, G., Mazo, M., & Tabuada, P. (2012). Symbolic models for
  nonlinear control systems without stability assumptions. IEEE TAC, 57(7),
  1804-1809.