Parameters : 

• state weight Q = [0.01, 0.01, 0, 0]

• input weight R = [1, 1]

• safety weight D = 40

• back up weight B = 10

• safety radius : 1.2 (Blue)  2.0 (Green) 

• agent radius : 0.8

• input range : a = [-50, 50]  w = [-pi/2, pi/2]

Parameters : 

• state weight Q = [0.01, 0.01, 0, 0]

• input weight R = [1, 1]

• safety weight D = 40

• back up weight B = 10

• safety radius : 1.2 (Blue)  2.0 (Green) 

• agent radius : 0.8

• input range : a = [-50, 50]  w = [-pi/2, pi/2]

Parameters : 

• state weight Q = [0.01, 0.01, 0, 0]

• input weight R = [1, 1]

• safety weight D = 40

• back up weight B = 10

• safety radius : 1.2 (Blue)  2.0 (Green) 

• agent radius : 0.8

• input range : a = [-50, 50]  w = [-pi/2, pi/2]

Parameters : 

• state weight Q = [0.01, 0.01, 0, 0]

• input weight R = [1, 1]

• safety weight D = 40

• back up weight B = 10

• safety radius : 1.2 (Blue)  2.0 (Green) 

• agent radius : 0.8

• input range : a = [-50, 50]  w = [-pi/2, pi/2]

Parameters : 

• state weight Q = [0.01, 0.01, 0, 0]

• input weight R = [1, 1]

• safety weight D = 40

• back up weight B = 10

• safety radius : 1.2 (Blue)  2.0 (Green) 

• agent radius : 0.8

• input range : a = [-50, 50]  w = [-pi/2, pi/2]