UAV path planning

Contains code for ensemble Kalman filtering, traffic simulation (cell transmission model), and UAV navigation.

The basic EnKF implementation follows section 4.3 in Evensen, 2003. The full implementation has adjustments for nonlinear measurement operators.

Overview

• EnKF.py: ensemble Kalman filter class for creating different EnKF instances (traffic densities & model parameters within separate EnKFs)
• Network.py: main script for network loading
• Node.py: abstract base class for node models
• nodeModel.py: implements series and diverge nodes
• link.py: abstract base class for link models
• linkModel.py: implements the link model (cell transmission model)
• utils.py: utility functions for reading data, creating ensembles, observation function, switching between cells and km
• findPath.py: finding path with least future uncertainty (maximum reduction in variance on estimates)
• main.py: master script for running simulation

@cesaryahia@utexas.edu