Could you help me to reproduce this Paper?

[HaikalBaiqunni]

Hello, I'm Haikal from Indonesia.
I am really excited about your works! and follow you.
I have a problem reproducing a paper of

"Adaptive Autonomous Navigation using Reactive Multi-agent System for Control Law Merging" by Baudouin Dafflon, Jose Vilca, Franck Gechter, and Lounis Adouane.

To be honest, I am new to these research themes and using Matlab. I face some difficulties to understand this paper and try to reproduce this paper. Would you help me to reproduce it?

I really appreciated your help, Thank you

With best regards