Flocking coordination using active leader and local information

Abstract

In this paper coordination of a group of agents by a coordinator agent, called the leader-agent (LA), is discussed. Agents have identical finite sensing radii and access only the local information. Inter-agent interactions bring them together as a multi-agent network system. In a recently proposed flocking algorithm using a virtual leader, it is proved that if a fraction of agents are informed then the center of mass of the multi-agent system tracks the virtual leader. The minimum number of the fraction is always greater than one. In this paper the only informed agent is the LA. Interaction functions are defined to make the model of the multi-agent system suitable for the design of the coordination control algorithm. The leader-agent accesses its local data and actively plans its motions through a nonlinear control method. It is proven in this paper that the multi-agent system tracks the virtual leader and a locally defined point near the LA converges to the position of the virtual leader. It is also shown that in this case, center of mass of the multi-agent system follows the virtual leader but with a finite distance. We have also discussed positive effects of the LA on network connectivity. Finally illustrative examples are added as well. Copyright © 2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society