arbit3rr/Flocking-Multi-Agent
Python implementation of "Flocking for multi-agent dynamic systems: Algorithms and theory" by Olfati-Saber for multi-agent triangular formation.
Implements decentralized consensus-based control laws using double integrator agent dynamics, enabling distributed flocking without centralized coordination. The algorithm computes control inputs based on relative position and velocity measurements from neighboring agents, leveraging graph theory to ensure convergence to triangular formation. Includes simulation visualization demonstrating multi-agent trajectory tracking and collision-free coordination in 2D space.
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Stars
53
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7
Language
Python
License
GPL-3.0
Category
Last pushed
Feb 09, 2023
Commits (30d)
0
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