TODO.md

TODO

• Hex Linear
  • Fully Observable
    • LQR
    • OSQP LQR
    • JuMP
• Support multiple CBFs/constraints
• Simulation
  • Parameter Updater
  • Variable mode weighting
  • Better warm-starting
    • Use SHIFT of last solution rather than last solution directly
  • Variable Consensus Horizon
• IMM integration
• Feasibility LP (No QP) - doesn't actually seem to be faster
• Change LinearHexModel to discrete time (we're always converting anyways)
• Early sim stopping for barrier violation / infeasible control
• Fixed failure time - don't want failure in simulation to be up to random chance