Symbolic motion planning for multi-agent collision avoidance problem. The scenario is 4 agents move in a dynamic-obstacle environment. Each agent takes the other agents as obstacles in multi-agent system collision avoidance. The collision was solved by decomposing concatenated inter collision situations into atmoic collision behaviors.

Setup: Add the environment variables for NuXMV, 1.Enter into the system and user environment variables interface, add the NuXMV include and bin

user Variables --> new variable: NUXMV_LIBRARY_PATH value : "NuXMV directory"nuXmv-1.1.1-win64\share\nuXmv

system Variables -->path -->edit add new by "NuXMV directory"\nuXmv-1.1.1-win64\bin