Distributed Formation Control of Unicycles with Collision Avoidance

Here you can download and test the Matlab simulation of the formation control strategy for unicycles with distributed collision avoidance.  Download files and run "UnicycleSimulation.m" in Matlab to simulate a formation of differential-drive robots. Feel free to change the initial conditions, the desired formation, and the number of robots.

This package is tested on MATLAB R2017b, 64-bit Windows 7 OS. You need CVX installed in order to run the code. CVX is available free from http://cvxr.com/cvx/.

You can download the files individually from the Google Drive folder (below), or you can download all files in the .zip format directly from here.