This repository contains an implementation of the algorithms and simulations described in

Prima Aditya and Herbert Werner, "A Distributed Linear Quadratic Discrete-Time Game Approach to Multi-Agent Formation with Collision Avoidance" submitted for CDC 2023

The main code main.m contains everything in one file with additional functions:

• sig.m to compute the sigma-norm
• zoom_plot.m for zooming window

To plot the formation without collision avoidance, go to unconstrained.m

This distributed framework based on iterative-scheme of steepest descent method. In this case, we took four vertices and five edges as an example.

The simulation code in this repository was tested in the following environment:

• Windows 11 Pro Version 21H2
• Matlab 2022b