Distance-Based Formation Control

MATLAB project for studying gradient-based formation control under different sensing-graph constraints. The active implementation controls an arbitrary number of planar agents toward a regular polygon using desired inter-agent distances.

Contents

• Project Structure
• Active Implementation
• Results
• Status

Project Structure

formation controller/
   distance-based/
         README.md
      2D/
         distance_based_formation_2D.m
         README.md
         result/
            complete/
            minimally_globally_rigid/
            minimally_rigid/
            non_rigid/

Active Implementation

Read the documentation in order of detail:

1. Distance-based controller theory, rigidity, and Lyapunov stability
2. 2D graph cases, configuration, and run instructions
3. The self-contained result reports linked below

Results

Each result directory is a self-contained report with its own explanation, desired graph, trajectories, edge-error convergence, and animation:

• Complete graph
• Minimally globally rigid graph
• Minimally rigid graph
• Non-rigid graph

Status

Development currently focuses on the planar controller. The 3D implementation is deferred and excluded through .gitignore.