This repository contains the code for the paper titled "Automated Lane Merging via Game Theory and Branch Model Predictive Control", submitted to IEEE T-CST.

This repository provides the implementation of the proposed method along with the baseline approaches. The code has been tested on Ubuntu 20.04 with ROS Noetic.

Code Availability

Please note that only a portion of the code has been uploaded to the repository currently. Specifically, you can find the reproduced baseline potential game in the following folder: GT-BMPC/PGame.

We are actively working on preparing and releasing the remaining code. We appreciate your patience and will update the repository as soon as the additional code is available.