https://github.com/giog97/formation-control-con-leader

Analysis and Implementation of Multi-Agent Systems Based on Potentials
https://github.com/giog97/formation-control-con-leader

formation-control multiagent-systems potential-fields

Last synced: 2 months ago
JSON representation

Analysis and Implementation of Multi-Agent Systems Based on Potentials

• Host: GitHub
• URL: https://github.com/giog97/formation-control-con-leader
• Owner: Giog97
• Created: 2025-01-08T14:38:36.000Z (4 months ago)
• Default Branch: main
• Last Pushed: 2025-02-14T10:20:04.000Z (2 months ago)
• Last Synced: 2025-02-14T11:27:47.276Z (2 months ago)
• Topics: formation-control, multiagent-systems, potential-fields
• Language: Jupyter Notebook
• Homepage:
• Size: 8.37 MB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

Awesome Lists containing this project

README

        
# 🌟 **Formation Control with Leader** 🌟  

## 🔍 **Analysis and Implementation of Multi-Agent Systems Based on Potentials**  

This 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.  

---  

## 🛠️ Project Description  

The project simulates a multi-agent system that includes:  

- **🤖 Leader:** A guiding agent that moves toward a goal following an attractive potential.  

- **🌀 Agents:** A group of N agents that maintain a circular formation around the leader using a formation potential.    

### 🎯 **Main Objectives**  

- **🚩 Leader Control:** Directing the leader toward a fixed goal.  

- **⚙️ Formation Maintenance:** Ensuring that non-leader agents respect the desired arrangement.  

- **🔒 Robustness:** Testing the stability of the formation even with a moving goal (at a constant speed).  

- **📊 Performance Analysis:** Calculating the maximum goal velocity that allows the formation to remain intact.  

### 🧲 **Main Potentials Used**  

- **Attractive Potential**: Directs the leader toward the goal.  

- **Formation Potential**: Forces agents to maintain formation relative to the leader.  

---  

## 📂 Project Structure  

🔸 **Main Notebook:**  

Contains Python code with step-by-step explanations. It uses the following libraries:  

- 🧮 `numpy` for numerical computations.  

- 📈 `matplotlib` for visualization.  

🔸 **Parameter Tuning:**  

Demonstrates how to optimize potential parameters to ensure robustness and stability.  

---  

## 🎥 **Results Information**  

Since the plots in the notebook are static, GIFs are generated during execution using `matplotlib.animation`, allowing for a dynamic visualization of agent movements.  

![Fixed Goal](./Gif_esperimenti/fixed_goal.gif)

![Moving Goal](./Gif_esperimenti/moving_goal.gif)

---  

## 💡 **Contributions**  

This project was developed by **Giovanni Stefanini** as part of an analysis on multi-agent formation control for the Multiagent Systems exam.