This repository represents an implementation of suggested distributed control algorithm for formation control of multi-agent system with distrubance compensation.
Two cases are discussed: Formation control without a leader. Formation control with a leader.
For theortical background please check the article: Aldarmini, Sokrat, Alexey Vedyakov, and Mikhail Kakanov. "Formation Control for Multi-Agent System with Disturbances Compensation." IFAC-PapersOnLine 55.13 (2022): 222-227. https://doi.org/10.1016/j.ifacol.2022.07.263
For implementation resutls of the same article on real robots check the video: https://www.youtube.com/watch?v=XftcoR6lyHs