├── .gitignore ├── LICENSE ├── README.md ├── documentation.md ├── python_code ├── AdjacencyMatrix │ ├── class1.py │ ├── class2.py │ └── simulator.py ├── Agent.py ├── Implementation │ ├── Tello3.py │ ├── test1.py │ └── testList.md ├── Obstacle.py ├── ObstaclePotentialField.py ├── Quadrotor │ ├── Bird.py │ ├── DynamicGraph.py │ ├── DynamicGraphSingle.py │ ├── Dynamics │ │ ├── AgentReport.py │ │ ├── Robotagent.py │ │ └── testAgent.py │ ├── FlyHistoryReport.py │ ├── Kalman Filter │ │ ├── DynamicGraph.py │ │ ├── KalmanFilter.py │ │ ├── Model.py │ │ ├── ModelQuadrotor.py │ │ ├── delme.py │ │ ├── test.py │ │ ├── test_kalman_filter.py │ │ ├── test_quadrotor.py │ │ └── try_KalmanFilter.py │ ├── Optimization │ │ ├── AR Phi same as paper.png │ │ ├── AR psi same as paper.png │ │ ├── AR theta same as paper.png │ │ ├── Best_SPF_TPF with PSO.png │ │ ├── DynamicGraph.py │ │ ├── FSA.py │ │ ├── Model Result │ │ │ ├── phi3data.png │ │ │ ├── psi3data.png │ │ │ ├── result.md │ │ │ ├── result3data.md │ │ │ ├── resultPEM.md │ │ │ ├── resultTimesMinus.md │ │ │ └── theta3data.png │ │ ├── PlotModel.py │ │ ├── distance_between_SPF (PSO only SPF) and TPF.png │ │ ├── main_APF_Opti.py │ │ ├── main_optimization.py │ │ ├── main_optimizationVS.py │ │ ├── main_optimization_position.py │ │ ├── modelling_atCont.py │ │ ├── myPSO.py │ │ ├── myPSOAPF.py │ │ ├── myPSOModelling.py │ │ ├── myPSOPosition.py │ │ ├── myPSOVS.py │ │ └── singleQuad.py │ ├── ProblemStatement │ │ └── targetSlowResponse.py │ ├── Quadrotor.py │ ├── QuadrotorAR.py │ ├── QuadrotorARSim.py │ ├── QuadrotorPEM.py │ ├── Report.py │ ├── Ship.py │ ├── Simulator.py │ ├── Technical.md │ ├── TelloSpecs.py │ ├── VirtualStructure.py │ └── test │ │ ├── test.py │ │ ├── test3D.py │ │ ├── test3DLine.py │ │ ├── testFlyHistoryReport.py │ │ ├── testQuadrotor.py │ │ ├── testQuadrotor2.py │ │ ├── testQuadrotorVS.py │ │ ├── testRotationMatrix.py │ │ ├── testTrajectoryFollower.py │ │ └── testVS.py ├── Report │ ├── FlyHistory.py │ ├── animation.py │ ├── arrow.py │ ├── demo.mp4 │ ├── lines3d_demo.py │ ├── scatter.py │ ├── scatter3DArrow.py │ ├── scatter3DArrow2.py │ ├── scatter3d_demo.py │ ├── tester │ │ └── test_flyHistory.py │ └── updateGraph.py ├── Simulator.py ├── SwarmController.py ├── SwarmPotentialField.py ├── Target.py ├── TargetPotentialField.py ├── animation_main │ ├── DotAgent.py │ ├── DynamicGraph.py │ ├── SPF Optimized.png │ ├── anim_main_agent.py │ ├── anim_main_agents.py │ ├── anim_main_agents_quads.py │ ├── anim_main_agents_target.py │ ├── anim_main_swarms.py │ └── test │ │ └── test_DynamicGraph.py ├── main_agent_obstacle.py ├── main_agent_obstacle_target.py ├── main_agent_target.py ├── main_agents.py ├── main_agents_target.py ├── structure.py ├── tester │ ├── report.py │ ├── test_Agent.py │ ├── test_ObstaclePotentialField.py │ ├── test_SwarmPotentialField.py │ ├── test_TargetPotentialField.py │ └── test_tupleUtil.py └── tupleUtil.py └── typescript_code ├── .eslintignore ├── .eslintrc.json ├── .gitignore ├── 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