Download files and run “QuadFormCtrl.m” in MATLAB to see a simulation of quadrotors achieving a desired formation defined as a square grid.

This package is tested in a MATLAB R2017b, 64-bit, Windows 7 platform. 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.