Event-based Reconfiguration Control for Time-varying Robot Formation in Narrow Spaces

This repository presents the following article in Python:

Duy-Nam Bui, Manh Duong Phung, Hung Pham Duy, "Event-based Reconfiguration Control for Time-varying Robot Formation in Narrow Spaces," Intelligent Service Robotics. 2025. [Citation].

Installation

git clone git@github.com:duynamrcv/erc.git
pip install imageio numpy matplotlib

Demo

We implement two controllers, includes the proposed controller ERC and the pure behavior controller BC, which are presented in robot_erc.py and robot_bc.py, respectively. To choose the tested controller, edit parameter CONTROLLER in config.py. To run the demo, run:

cd erc
python3 main.py

The data will be saved in *.txt. For the visualization, run:

python3 visualization.py

Results

Method	Pentagon shape	V-shape
ERC
BC

Citation

@ARTICLE{Nam2025,
  author={Bui, Duy-Nam and Phung, Manh Duong and Pham Duy, Hung},
  journal={Intelligent Service Robotics}, 
  title={Event-based Reconfiguration Control for Time-varying Robot Formation in Narrow Spaces}, 
  year={2025},
  volume={},
  number={},
  pages={1-13},
  doi={10.1007/s11370-025-00607-z}}