Given a static, undirected, connected graph, let

$x_i^{}=-{\displaystyle \underset{jin{N}_i}{\overset{?}{}}}(x_i-{}_i-x_j+{}_j)$

where ${}_i,{}_j$ are points satisfying

$||{}_i-{}_j||=d_{ij},$AAi,$j=1,$cdots,$n,ij$

and $d_{ij}=d_{ji}$ is the desired separation between agents i and $j.$ Write a program to show that all agents will converge to the desired formation specified by ${}_i,{}_j.$ can i get a matlab code for this