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