This repository contains Python codes for distributed anti-flocking algorithms described in this paper:
- Nuwan Ganganath, Chi-Tsun Cheng, and Chi K. Tse, “Distributed antiflocking algorithms for dynamic coverage of mobile sensor networks,” IEEE Transactions on Industrial Informatics, vol. 12, no. 5, pp. 1795-1805, 2016. [PDF]
Original MATLAB implementation can be found at https://github.com/manganganath/distributed_anti-flocking
If you find this paper or code useful, we encourage you to cite the paper. BibTeX:
@article{ganganath2016antiflocking,
title={Distributed Antiflocking Algorithms for Dynamic Coverage of Mobile Sensor Networks},
author={Nuwan Ganganath and Chi-Tsun Cheng and Chi K. Tse},
journal={IEEE Transactions on Industrial Informatics},
year={2016},
volume={12},
number={5},
pages={1795--1805},
publisher={IEEE}
}
To start the simulation, run main.py file using Python. Parameters can be found at the top of the main.py file. This code was tested using Python 3.5.2.
This short video illustrates dynamic area coverage and obstacle avoidance capabilities of 5 α-agents (mobile sensor nodes) controlled by anti-flocking algorithms proposed in the above paper.
