{"id":25673026,"url":"https://github.com/giog97/formation-control-con-leader","last_synced_at":"2025-06-11T01:03:52.075Z","repository":{"id":271571415,"uuid":"913884290","full_name":"Giog97/Formation-Control-con-Leader","owner":"Giog97","description":"Analysis and Implementation of Multi-Agent Systems Based on Potentials","archived":false,"fork":false,"pushed_at":"2025-02-14T10:20:04.000Z","size":8774,"stargazers_count":0,"open_issues_count":0,"forks_count":0,"subscribers_count":1,"default_branch":"main","last_synced_at":"2025-02-14T11:27:47.276Z","etag":null,"topics":["formation-control","multiagent-systems","potential-fields"],"latest_commit_sha":null,"homepage":"","language":"Jupyter Notebook","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/Giog97.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2025-01-08T14:38:36.000Z","updated_at":"2025-02-14T10:21:38.000Z","dependencies_parsed_at":null,"dependency_job_id":"51bf0ad1-0d48-447a-8aaf-b7dcadfa4125","html_url":"https://github.com/Giog97/Formation-Control-con-Leader","commit_stats":null,"previous_names":["giog97/formation-control-con-leader"],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Giog97%2FFormation-Control-con-Leader","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Giog97%2FFormation-Control-con-Leader/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Giog97%2FFormation-Control-con-Leader/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Giog97%2FFormation-Control-con-Leader/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/Giog97","download_url":"https://codeload.github.com/Giog97/Formation-Control-con-Leader/tar.gz/refs/heads/main","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":240483764,"owners_count":19808631,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["formation-control","multiagent-systems","potential-fields"],"created_at":"2025-02-24T12:44:57.116Z","updated_at":"2025-02-24T12:44:57.682Z","avatar_url":"https://github.com/Giog97.png","language":"Jupyter Notebook","funding_links":[],"categories":[],"sub_categories":[],"readme":"# 🌟 **Formation Control with Leader** 🌟  \n\n## 🔍 **Analysis and Implementation of Multi-Agent Systems Based on Potentials**  \nThis repository contains the notebook **\"Formation Control with Leader\"**, a detailed analysis and implementation of multi-agent systems based on potentials. The notebook guides through the development of a formation control system for a leader and a group of agents that maintain a circular arrangement around the leader.  \n\n---  \n\n## 🛠️ Project Description  \nThe project simulates a multi-agent system that includes:  \n- **🤖 Leader:** A guiding agent that moves toward a goal following an attractive potential.  \n- **🌀 Agents:** A group of N agents that maintain a circular formation around the leader using a formation potential.    \n\n### 🎯 **Main Objectives**  \n- **🚩 Leader Control:** Directing the leader toward a fixed goal.  \n- **⚙️ Formation Maintenance:** Ensuring that non-leader agents respect the desired arrangement.  \n- **🔒 Robustness:** Testing the stability of the formation even with a moving goal (at a constant speed).  \n- **📊 Performance Analysis:** Calculating the maximum goal velocity that allows the formation to remain intact.  \n\n### 🧲 **Main Potentials Used**  \n- **Attractive Potential**: Directs the leader toward the goal.  \n- **Formation Potential**: Forces agents to maintain formation relative to the leader.  \n\n---  \n\n## 📂 Project Structure  \n🔸 **Main Notebook:**  \nContains Python code with step-by-step explanations. It uses the following libraries:  \n- 🧮 `numpy` for numerical computations.  \n- 📈 `matplotlib` for visualization.  \n\n🔸 **Parameter Tuning:**  \nDemonstrates how to optimize potential parameters to ensure robustness and stability.  \n\n---  \n\n## 🎥 **Results Information**  \nSince the plots in the notebook are static, GIFs are generated during execution using `matplotlib.animation`, allowing for a dynamic visualization of agent movements.  \n![Fixed Goal](./Gif_esperimenti/fixed_goal.gif)\n![Moving Goal](./Gif_esperimenti/moving_goal.gif)\n\n---  \n\n## 💡 **Contributions**  \nThis project was developed by **Giovanni Stefanini** as part of an analysis on multi-agent formation control for the Multiagent Systems exam.  \n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fgiog97%2Fformation-control-con-leader","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fgiog97%2Fformation-control-con-leader","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fgiog97%2Fformation-control-con-leader/lists"}