MultiAgent Collision Avoidance With Scaling On Complex Trajectories. Give your configuration of the robot in MultiAgentCVX.m in function initalizeCars as t0=0;tf=20; x0=0;y0=2;xw1=8;yw1=2;xf=16;yf=2; Without scaling all the robots would collide, here only the results are shown Single line trajectories - Following Behaviour Merging Behaviour in Smooth Trajectories Unstructured Trajectories