Multi-robot formation control. An attacker attack the formation and the formation can detect the attacker by SVM, then defend the attack by topology transform. You can run attacker.m or defend.m. I have trained some data to the formation and they are stored in .mat.

The formation is modeled by five circles:

And there is an attacker who is red:

After a long time, the formation can detect the robot who is being attacked by SVM:

After that, we output the path and the S to verify it: