Code for simulating the navigation of three unicycles through a narrow passing before stabilizing themselves, under the presence of bounded additive disturbances, via Model Predictive Control. The problem formulation and its theoretical proof of solution can be found at
@article{ijc0699,
title={Robust decentralised navigation of multi-agent systems with collision avoidance and connectivity maintenance using model predictive controllers},
authors={Alexandros Filotheou, Alexandros Nikou, Dimos V. Dimarogonas},
doi={https://doi.org/10.1080/00207179.2018.1514129},
url={https://www.tandfonline.com/doi/full/10.1080/00207179.2018.1514129},
year={2018}}