Formation#

This is a formation control task. The goal is to control the drone to form a regular polygon formation. The reward is the negative of the formation cost.

Observation#

  • obs_self: the relative position, velocity, and orientation of the drone

  • obs_others: the relative position, velocity, and orientation of other drones

Reward#

  • formation: the negative of the formation cost.

  • pos: the negative of the distance to the target position.

  • heading: the negative of the heading error.

Episode End#

The episode terminates when any of the following conditions are met:

  • The drone crashes.

  • The minimum distance between any two drones is less than a threshold.

or is truncated when it reaches the maximum length.

Config#