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.