Python implementation of "Flocking for multi-agent dynamic systems: Algorithms and theory" by Olfati-Saber for multi-agent triangular formation.
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
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