Abstract
Two formation control designs are presented for flocking of a group of mobile autonomous agents in an obstacle-free environment. Both control designs use virtual leader(s) and two different interactive forces. Virtual leader(s) are used to direct the group to track a desired path, as well as to ensure the group's cohesion, via the attractive force between agents and their virtual leader(s). The repulsive force between neighboring agents is used to avoid agent collisions. It is shown that the agents can achieve a desired formation and follow the desired path at the same velocity as the virtual leader's velocity. The absence of an attractive force between neighboring agents is a new feature of this approach, meant to help reduce sensing requirements in future designs that stress a reduced level of communication among agents.
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