SWARM Algorithm Implementation

A multi-agent swarm control system implementing formation control and path planning using artificial potential fields (APF).

Features

• V-formation and sequential formation control
• Obstacle avoidance using artificial potential fields
• Dynamic formation switching for tunnel navigation
• MAVLink communication support for autopilot integration
• Kinematic model with velocity and orientation control

Implementations

The algorithm is implemented in multiple languages:

• MATLAB (.m files) - For simulation and visualization
• C++ - For real-time control implementation
• C - For MAVLink communication with autopilot

Key Components

• formation.m - Main formation control algorithm
• swarm.cpp - C++ implementation of the swarm control
• lyponuv.m - Lyapunov stability analysis
• readautopilot.c/send_autopilot.c - MAVLink communication interface
• udp_connection.c - Network communication handling

Usage

1. Run MATLAB simulations for algorithm verification
2. Compile and run C++ implementation for real-time control
3. Use C components for autopilot integration

Requirements

• MATLAB
• C++ compiler
• MAVLink library
• UDP network support