function [A, b, lb, ub, obstacles, start, g, robots0, robotvel, formationScale, robotScale] = get_dynamic_world_objects(t, dt, obj_vel_mag, robot_vel_mag)
formationScale = 0.5;
robotScale = 1;
%% Environment border definition
ymax = 15;
zmax = 10;
xmax = 10;
lb = [0;0; 0];
ub = [xmax;ymax; zmax];

%% Robot positions and velocities
robots0 = [0,   0.1,   0.2,      0;...
           0,     0,     0,    0.1;
           1,     3,     0,      0];
robotvel = 0.5;

%% Start and Goal points of the environment
start = [1; 7.5; 5];
g = [xmax-1;
     7.5;
     5];
g = [];
for i=1:xmax-1
    g = [g, [i; 7.5; 5]];
end

%% Inequalities representing the environment border
A = [-1,0, 0;...
      0,-1, 0;...
      0, 0, -1;...
      1,0, 0;...
      0,1,0;...
      0,0,1];
b = [-lb; ub];


thickness = 0.1;
%% Generate cuboid obstacles of the world
pos = cube_points([4, ymax-thickness, 0], [4+thickness, ymax, zmax]);
vel = [0; -1; 0]*obj_vel_mag;
p1 = pos + t*vel;
p2 = pos + (t+dt)*vel;
obstacles = [p1, p2];

pos = cube_points([5, ymax-thickness, 0], [5+thickness, ymax, zmax]);
vel = [0; -1; 0]*obj_vel_mag;
p1 = pos + t*vel;
p2 = pos + (t+dt)*vel;
obstacles(:,:,2) = [p1, p2];


    
end

