Onurion/safety-aware-sdrg: Official Simulation Suite for "Safety-Aware Similarity Formation Control" (IJSS Submission)

📢 Publication Context This release contains the frozen source code and simulation environment supporting the research paper: "Safety-Aware Similarity Formation Control via State-Dependent Reference Generation" Submitted to the International Journal of Systems Science (IJSS) 📦 Release Contents This version (v1.0.0) includes the complete Python implementation of the Safety-Critical Dynamic Reference Governor (SDRG) framework. It provides a comparative analysis against: MPC: Model Predictive Control ($N=25$) CBF-QP: Control Barrier Functions (Velocity-dependent) APF: Artificial Potential Fields 🚀 Reproduction Instructions To reproduce the figures and tables presented in the manuscript: Install dependencies: pip install -r requirements.txt Run the main simulation suite: python main.py 📊 Generated Outputs This release automatically generates the following artifacts used in the paper: Figure 1: Trajectory Overview & Snapshots Figure 2: Surface Clearance Evolution Figure 3: Computation Time Comparison Figure 4: Sequential Obstacle Scenarios Figure 5: MPC Horizon Ablation Study Figure 6: Formation Coherence Analysis Figure 7: Multi-Agent Leader-Follower Demonstration Tables I & II: Monte Carlo Statistical Performance ($n=50$ trials) This release is archived via Zenodo for permanent citation.