There is an article about formation transformation and convex optimization. It is extremely difficult for me to reproduce. Can you take the time to reproduce it? Thank you very much!This article is：
Karamouzas I, Guy S J. Prioritized group navigation with formation velocity obstacles[C]//2015 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2015: 5983-5989.http://motion.cs.umn.edu/pub/FVO/FVO-icra15.pdf
There is an article about formation transformation and convex optimization. It is extremely difficult for me to reproduce. Can you take the time to reproduce it? Thank you very much!This article is： Karamouzas I, Guy S J. Prioritized group navigation with formation velocity obstacles[C]//2015 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2015: 5983-5989.http://motion.cs.umn.edu/pub/FVO/FVO-icra15.pdf