Matrix analysis
Flocks, herds and schools: A distributed behavioral model
SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
Aggregation of foraging swarms
AI'04 Proceedings of the 17th Australian joint conference on Advances in Artificial Intelligence
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This paper considers a group of mobile autonomous agents moving in the space with point mass dynamics. We investigate the dynamic properties of the group for the case that the topology of the neighboring relations between agents varies with time. We introduce a set of switching control laws and show that the desired stable flocking motion can be achieved by using them. The control laws are a combination of attractive/repulsive and alignment forces, and the control law acting on each agent relies on the state information of its neighbors and the external reference signal. By using the control laws, all agent velocities asymptotically approach the desired velocity, collisions are avoided between the agents, and the final tight formation minimizes all agent potentials. Finally, numerical simulations are worked out to further illustrate our theoretical results.