Flocking Motion of Mobile Agents with a Leader Based on Distance-Dependent Adjacency Matrix

Authors:
Hui Yu;Jigui Jian;Yongji Wang
Affiliations:
Institute of Nonlinear and Complex Systems, China Three Gorges University, Yichang, China 443002;Institute of Nonlinear and Complex Systems, China Three Gorges University, Yichang, China 443002;Department of Control Science and Engineering, Huazhong University of Science and Technology, Wuhan, China 430074
Venue:
ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part I
Year:
2008

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Flocks, herds and schools: A distributed behavioral model

SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques

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Abstract

In this study, a novel procedure is presented for control and analysis of multiple autonomous agents with point mass dynamics achieving flocking motion with a time variant leader. Two control laws are proposed for a group of autonomous agents to achieve flocking formations related to two different centers (mass center and geometric center) of the flock. The first one is designed for flocking motion based on mass center and the second for geometric center. Distance-dependent adjacency matrix is used to quantify the way agents influence each other. Theoretical analysis is established to indicate the stability (cohesiveness, collision avoidance and velocity matching) of the control systems using classical Lyapunov theory. Finally, a simulation example is demonstrated to validate the theoretical results.