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Flocking Multi Agent

Python implementation of "Flocking for multi-agent dynamic systems: Algorithms and theory" by Olfati-Saber for multi-agent triangular formation.

From arbit3rr·Updated April 25, 2026·View on GitHub·

This repository contains python implementation of "Flocking for multi-agent dynamic systems: Algorithms and theory" by Olfati-Saber, Reza. You can find the article using these links: [IEEE](https://ieeexplore.ieee.org/abstract/document/1605401), [PDF](https://sci-hub.yncjkj.com/10.1109/TAC.2005.864190) The project is written primarily in Python, distributed under the GNU General Public License v3.0 license, first published in 2022. Key topics include: control, control-systems, flocking, formation, formation-control.

Flocking for Multi-Agent Systems

This repository contains python implementation of "Flocking for multi-agent dynamic systems: Algorithms and theory" by Olfati-Saber, Reza.
You can find the article using these links: IEEE, PDF

Algorithm

The purpose of the algorithm is to provide a common control law to form agents in a triangular shape.
The agent model is a double integrator:

math
\left\{\begin{matrix}
\dot{p} = q \\
\dot{q} = u
\end{matrix}\right.

p: position, q: velocity

Results

Decentralized flocking

Contributors

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arbit3rr

arbit3rr

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This article is auto-generated from arbit3rr/Flocking-Multi-Agent via the GitHub API.Last fetched: 6/29/2026