/2023-code-CDC-A-Distributed-LQDTG-Approach-to-Formation-Control-with-Collision-Avoidance

Code for the paper submitted for ECC 2023

Primary LanguageMATLABGNU General Public License v3.0GPL-3.0

DOI

A Distributed Linear Quadratic Discrete-Time Game Approach to Formation Control with Collision Avoidance

General

This repository contains an implementation of the algorithms and simulations described in

Prima Aditya and Herbert Werner, "A Distributed Linear Quadratic Discrete-Time Game Approach to Multi-Agent Formation with Collision Avoidance" submitted for CDC 2023

Simulation

The main code main.m contains everything in one file with additional functions:

  • sig.m to compute the sigma-norm
  • zoom_plot.m for zooming window

To plot the formation without collision avoidance, go to unconstrained.m

This distributed framework based on iterative-scheme of steepest descent method. In this case, we took four vertices and five edges as an example.

Prerequisites

The simulation code in this repository was tested in the following environment:

  • Windows 11 Pro Version 21H2
  • Matlab 2022b