Incorporating Social Awareness into Control of Unknown Multi-Agent Systems: A Real-Time Spatiotemporal Tubes Approach

This repository contains the MATLAB implementation of the paper: “Incorporating Social Awareness into Control of Unknown Multi-Agent Systems: A Real-Time Spatiotemporal Tubes Approach ”

Repository Contents:

• main_2D.m: Contains the STT implementation for a Socially Aware Multi-Agent System (SA-MAS) in a 2D environment for mobile robots.
• main_3D.m: Contains the STT implementation for a Socially Aware Multi-Agent System (SA-MAS) in a 3D environment for quadcopter systems.
• control.m: Controller implementation for the 2D SA-MAS system.
• control_3d.m: Controller implementation for the 3D SA-MAS system.
• random_run.m: Contains the STT implementation for randomized simulations, where users can define their own parameters and run custom scenarios.
• comparison/: Contains comparison scripts with three baseline algorithms.

Requirements:

• MATLAB R2025a or newer
• No additional toolboxes required

Citation

If you use this code in your research, please cite:

@ARTICLE{multi_social, author={Upadhyay, Siddhartha and Das, Ratnangshu and Jagtap, Pushpak}, journal={arXiv preprint arXiv:2510.25597}, title={Incorporating Social Awareness into Control of Unknown Multi-Agent Systems: A Real-Time Spatiotemporal Tubes Approach}, year={2025} volume={},
number={},
pages={},
doi={}
}

License

This repository is provided for research and educational use. Please contact the authors for other usage