This project is focused on the analysis of automatic control laws that allow a multi-agents system of robots to reach desired formations in the 3D space. Fist we perform a study on the state-of-art techniques for multi-agents control, then we develop a graphical software application to simulate such methods and compare them to establish benefits and drawbacks of each ones.
Run main.py then choose in the graphical interface the starting conditions of the simulation.
The application let choose the following settings:
- Number of robots: number of agents in the formation.
- Formation: the desired formation.
- Control law: the desired control law for the agents.
- Agents model: the model of the agents that establish theirs behaviours.
- Step time: sampling time of the simulation.
- Max time: stop time of the simulation.
- Space: 2D (for land vehicles) or 3D (for flying vehicles) simulation.
The application provide some basic formations such as Square, Cubic and Linear formations.
It's avaible also a tool to draw new desired formations or specify them by 3D cordinates points.