Flocking for Multi-Agent Systems

This repository contains python implementation of "Flocking for multi-agent dynamic systems: Algorithms and theory" by Olfati-Saber, Reza. You can find the article using these links: IEEE, PDF

Algorithm

The purpose of the algorithm is to provide a common control law to form agents in a triangular shape. The agent model is a double integrator:

$$\left\{\begin{matrix} \dot{p} = q \\\ \dot{q} = u \end{matrix}\right.$$

p: position, q: velocity

Results