Centralized 

Completion Time : 15.9 sec (Baseline)  

Parameters : 

• state weight Q = [0.001, 0.001, 0, 0]

• input weight R = [1, 1]

• safety weight D = 10

• back up weight B = 10

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

• agent radius : 0.8

• input range : a = [-15, 15]  w = [-pi/2, pi/2]

IPG

Extra Time : + 1.1 s

Vanilla

Extra Time : + 4.8 s