Practical example of the Victoria-Nash Asymmetric Equilibrium (VNAE) applied to multi-agent drone control. Paper: "Riemmanian Manifolds of Asymmetric Equilibria: The Victoria-Nash Geometry" by DH Pereira (2026).
This implementation in R focuses on the software-level control logic and geometric stability structure of VNAE-based multi-agent systems.
It is intended as a reference and starting point for control, automation, and robotics engineers, who may adapt the dynamics, constraints, sensing, and actuation layers to their specific hardware platforms and real-world conditions.
- Quadratic/Canonical VNAE formulation
- Multi-agent (10 drones) control
- Curvature-based stability diagnostics
- Parameter sensitivity analysis
- 2D and 3D visualizations
- R >= 4.0
- Packages: - ggplot2 - plotly - rgl - gridExtra
Pereira, D. H. (2025). Riemannian Manifolds of Asymmetric Equilibria: The Victoria-Nash Geometry.