Journal
COMMUNICATIONS IN THEORETICAL PHYSICS
Volume 57, Issue 5, Pages 801-807Publisher
IOP PUBLISHING LTD
DOI: 10.1088/0253-6102/57/5/10
Keywords
distributed control; flocking; multi-agent system; multiple virtual leaders
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Funding
- National Natural Science Foundation of China [61104140]
- HUST [2011JC055, 20112292]
- Research Fund for the Doctoral Program of Higher Education (RFDP) [20100142120023]
- Natural Science Foundation of Hubei Province of China [2011CDB042]
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Most existing flocking algorithms assume one single virtual leader and rely on information on both relative positions and relative velocities among neighboring agents. In this paper, the problem of controlling a flock of mobile autonomous agents to follow multiple virtual leaders is investigated by using only position information in the sense that agents with the same virtual leader asymptotically attain the same velocity and track the corresponding virtual leader based on only position measurements. A flocking algorithm is proposed under which every agent asymptotically attains its desired velocity, collision between agents can be avoided, and the final tight formation minimizes all agents' global potentials. A simulation example is presented to verify and illustrate the theoretical results.
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