Convoy Simulation with No Track

This repo simulates convoy operations off the track.

Variants

Currently there are three iterations of the simulator, and they need to be merged together.

• The original version is as implemented on the F1Tenth hardware (with different parameter tuning)
• The _errorplot version plots at the end, with more diagnostics, rather than displaying a live simulation, and is better tuned.
• The original mistakenly did not scale the process noise by the time elapsed, which was fixed in _scaled.