Flocking Control of Multi-agent System With
Leader-Follower Architecture Using Consensus
Based Estimated Flocking Center
Chandreyee Bhowmick Laxmidhar Behera
Dept. of Electrical Engg. Dept. of Electrical Engg.
IIT Kanpur IIT Kanpur
Kanpur, India - 208016 Kanpur, India - 208016
Email: chandb@iitk.ac.in Email: lbehera@iitk.ac.in
AbstractThis paper is concerned about flocking control of
a group of mobile agents having leader-follower configuration
where the number of leaders is lesser in number than followers.
The leaders have the navigation information where the followers
only know who the leaders are. Artificial potential function is
used to design the distributed control law of the agents. The
leaders move as per the tracking information while avoiding
collision with other agents. The followers estimate the position
of the flocking center and tend to move towards it while aligning
velocities and avoiding collisions with neighboring agents. A
novel algorithm for estimation of flocking center is introduced
in this paper. This algorithm uses consensus concept that makes
the followers reach an agreement regarding the flocking center
position. The stability analysis of this algorithm shows that the
estimation error is asymptotically -stable. The agents do not need
to know their own positions in global coordinates. The leaders do
not access any information from other agents while the followers
communicate with its neighboring agents to estimate the flocking
center and also to control their motion, the neighborhood being
defined by the limited communication range. Simulation results
show the effectiveness of the algorithm.
Index TermsMulti-agent system, flocking, flocking center,
consensus, fuzzy control, artificial potential function.
I. I NTRODUCTION
Multi-agent system can be described as a group of intel-
ligent agents capable of communicating with each other and
cooperatively implementing different types of tasks [1]. This
can be realized by various types of robots and have wide
application areas including military surveillance, exploration,
rescue operation etc. For target tracking purpose, flocking
control of multi-agent systems plays a key role.
Research of flocking started in 1986, when Craig Reynolds
invented the simulation model of biological flocking and
named it as Boids [2]. The cooperative behavior of multiple
living beings [3], such as flocks of birds, schools of fish, herds
of wildebeest has influenced the research because of its certain
advantages, like avoiding predators, ease of finding food,
saving energy when cooperating with each other. Inspired
by the biological phenomenon, flocking control of multi-
agent systems have become one of the most active research
areas in the past few years. Leader-follower is a widely used
configuration of the flocking group. In biological systems too,
Amit Shukla Hamad Karki
Dept. of Mechanical Engg. Dept. of Mechanical Engg.
The Petroleum Institute The Petroleum Institute
Abu Dhabi, UAE Abu Dhabi, UAE
Email: ashukla@pi.ac.ae Email: hkarki@pi.ac.ae
a few individuals control the whole group to navigate together
[4][5]. This concept was introduced in the field of robotics
through [6][7]. In [8], different leader roles were discussed in
distributed systems along with synchronization conditions. In
[9], leader-follower based decentralized control was introduced
through controllability and optimal control concept. Experi-
mental results based on this theory were presented in [10].
The main challenge encountered in leader-follower flocking
is to maintain the connectivity of the group. Leaders move
as per the navigation requirement and do not pay attention
to the position of the followers, so there is a chance that
the connectivity between them gets lost. Also there is a
collision avoidance component in the control law of the agents,
which increases the chance of occurrence of this problem.
Different approaches to maintain connectivity of a flocking
group exist in the literature, such as algebraic graph theory
to maintain k-hop connectivity [11], local connectedness [12],
control of second smallest eigenvalue [13], potential function
approach using non-smooth Lyapunov theory [14] and making
the system cohesive [15]. One popular method is to make
all the agents cohesive to the flocking center. Calculation of
actual flocking center requires a centralized approach, which
needs knowledge of all the agents position. To make the
algorithm decentralized, the flocking center is estimated by the
agents based on their neighbors information. [16] presents a
decentralized algorithm to estimate the flocking center where
the agents need to know their own position in the global
coordinate system.
Control law of the agents are mostly designed using artificial
potential function approach. The earliest application of APF
in flocking systems is found in [17]. Non-smooth potential
function was introduced in [18][19] where system stability was
analysed using LaSalles invariance principle. An experimental
implementation of the potential function approach in case of
flocking behavior has been demonstrated in [20].
This study deals with a system of multiple mobile agents
with leader-follower architecture that is designed to flock and
move along a desired trajectory. Leaders are less in count
compared to followers and possess navigational information
whereas the followers only know who the leaders are. Leaders
move along the desired trajectory and the followers estimate
the flocking center and move towards it. The main contribution
of this paper are the following:
(i) A novel algorithm for estimation of the flocking center
(FC) has been proposed. Followers estimate the position
of the flocking center and move towards it. There is a
consensus term in the estimation algorithm that makes
the followers reach an agreement regarding the FC
position.
(ii) Unlike other existing algorithms, here the agents need
not know their own position in global coordinate, instead
they use relative position of their neighboring agents with
respect to its position.
(iii) The estimation algorithm is shown to be globally asymp-
totically -stable.
(iv) APF based distributed control law has been designed
using fuzzy logic based approach.
(v) Performance of the algorithm is demonstrated through
simulation results. It even works for random initial
position of the agents.
The rest of the paper is organized as follows. Some pre-
liminaries are discussed in Section II. Section III formulates
the problem and Section IV discusses the proposed algorithm.
Simulation results are presented in Section V. Finally, Section
VI concludes the paper.
II. P RELIMINARIES
Before discussing about the algorithm, here we present some
of the preliminary theories that are relevant to this study.
Definition 1. Let us consider a system of N agents. qi and pi
be the position and the velocity vectors of the ith agent. The
configuration q formed by this system is called a flock if
(i) the distances ||qi qj || between any two neighbors con-
verge asymptotically to a fixed value (flock centering).
(ii) the velocity mismatches (pi pj ) of any two agents
converge asymptotically to zero (velocity matching).
(iii) no collision between agents occurs (collision avoidance).
According to Boids model, the three fundamental heuristic
behaviors that a flocking system should posses are alignment,
cohesion and separation. In case the flock is required to
follow a trajectory, the flocking center trajectory qc should
asymptotically converge to the reference trajectory qr . In target
tracking problems, the target trajectory acts as the reference
trajectory.
Graph theory is useful to study the flocking behavior. The
vertices of a graph correspond to the agent positions and the
edges represent the inter-agent communication. Formally, a
graph
G = (V, E) (1)
can represent a flocking system, where V = {v1 , v2 , , vN }
are the location of the agents and the edge set E = {(vi , vj )
V V} denotes the interconnection between agents. All the
agents are assumed to have a limited communication range
and that range defines the concept of edge of the set. The
edge set can be defined as
E = {(i, j)|i, j V &||p(i) p(j)||<= Cmax }, Cmax being
the communication range of the agents. A graph is connected
if for any pair of vertices (i, j), there is a path consisting of
edges in E to reach from i to j. The concept of neighborhood
of a particular agent i is defined in the following way:
Ni = {j : (i, j) E} (2)
The degree of a vertex is denoted as di and is defined as
the cardinality of the set Ni . Maximum degree is given by
dmax = max di . The degree matrix of graph G is = diag di .
i
Adjacency matrix A denotes the interaction between different
agents. The Laplacian matrix of G is then defined as
L=A (3)
In case of flocking, the graph representation of the group of
agents is dynamic, the edges will change with time.
In a leader-follower network of agents, the concept of
representing the system using graph theory is different from
simple multi-agent case. The leaders do not need to access
any information from the followers. Let us consider a system
of n agents of which m agents are leader. Without loss of
generality, we can label the leaders as {1, 2, , m} and the
rest are followers. The Laplacian of the graph G of this system
can be represented as

0mm 0m(nm)

L= (4)
Llf Lf f
III. P ROBLEM F ORMULATION
In this paper, we assume a group of n mobile agent having
double-integrator dynamics as given below:
q(t)
= p(t)
(5)
p(t)
= u(t)
where q(t) and p(t) are the position and velocity vectors of
the agents in 2-D space at time t. u(t) is the feedback control
signal in 2-D space.
The group of agents need to move as a flock along the
desired trajectory. The leaders have the navigation information
whereas the followers only know who the leaders are. They
communicate with its neighboring followers to estimate the
flocking center. Leaders move towards the desired trajectory
whereas the followers move towards the estimated flocking
center. Agents align their velocities with their neighbors
velocities and avoid collision between them. There are several
assumptions that we have followed in this study:
(i) All the agents are equipped with a local sensor with a
limited communication range. We assume all the agents
to have the same range which is denoted by Cmax .
(ii) The agents communicate only with its neighbors, i.e.,
the agents who are situated within their communication
range.
(iii) The leaders do not interact with other agents, other than
avoiding collision.
(iv) The follower agents know who the leaders are.
IV. D ISTRIBUTED F LOCKING C ONTROL L AW U SING
E STIMATED F LOCKING C ENTER
Let us assume that there are N mobile agents of which
Nl number of agents are informed leaders and the rest Nf
agents are followers. The set of all agents is denoted by S. L Potential force is negative if rij < 1 m. When rij 1m,
and F Sdenote the Tsets of the leaders and followers. Clearly, the potential force is zero. Because of the mutual coordination
S = L F and L F = . between any two neighboring agents
Hs (rij ) = Hs (rji )
A. Control Law of The Leaders
The informed leaders follow the desired trajectory using The separation control vector
 can be expressed as

f (r ).(qjx qix )/rij
navigation information while avoiding collision with others. fs (qj qi ) = s ij (8)
The navigation component of ith leader agent is designed fs (rij ).(qjy qiy )/rij
Applying this separation control to all the neighbors of agent
based on the following potential function:
i, the final separation behavior
X of agent i is
Hin = (qi qr )2 + (pi pr )2 (i L) (6) s

ui = k3 fs (qj qi ) (9)
where qr and pr are the desired position and velocity. The
jNi
navigational control law of leader i is thus expressed as k3 is a positive constant.
uni = k1 (qi qr ) k2 (pi pr ) (i L) (7) Putting the two components together, the control law of the
where k1 and k2 are positive constants. leader i is found out to be
The separation control part is necessary to avoid collision
X
uli = k1 (qi qr ) k2 (pi pr ) k3 Hs (||qi qj ||)
between agents and maintain a specific distance d between | {z }
jNi
navigation
any two neighboring agents. When the distance is less than | {z }
separation
that, they should attempt to separate. Let Hs (rij ) denote the B. Control Law of The Followers (10)
separating potential function between ith and jth agents where The different components of the follower control law are:
rij = ||qi qj ||. The potential function should be non-negative. (i) The follower agents estimate the flocking center position
Hs (rij ) denotes the gradient of Hs (rij ) with respect to qi and move towards it. This cohesion part is necessary to
and is the potential force on agent i due to agent j. maintain connectivity in the system.
A potential function should possess the following properties: (ii) The separation control part of the agents lets them avoid
(i) when rij d, Hs (rij ) < 0 that makes ith agent move colliding with other neighboring agents.
away from jth agent. (iii) Alignment control of the agents is necessary to match
(ii) when rij > d, Hs (rij ) = 0. their heading with the average heading of its neighbors.
(iii) Hs (rij ) is a continuous function, thus Hs (rij ) is a Estimation of Flocking Center: The follower agents esti-
differentiable function. mate the flocking X center position using X
the following relation
A fuzzy-logic based approach is used here to construct the qic = qic (qi qj ) (qic qjc ) (11)
potential force function. The input here is the distance between j(Ni
T
L) j(Ni
T
F)
two agents, which has been divided into six fuzzy sets as The last term plays a consensus role among the follower agents
shown in Fig. 1. to make them reach an agreement.
2 too close
Convergence T of the estimation
T algorithm is proved as below.
close
slightly close
In (11),
T (N i L) and (N i F ) are two subgraphs of Ni .
1.5
appropriate
slightly far (Ni L) denotes the interaction of ith follower agent with
fuzzy output

too far
T
the neighboring leader agents whereas (Ni F ) depicts its
1 interaction with the neighboring follower agents. Let us denote
the Laplacian of the two subgraphs by L1 and L2 . Thus (11)
0.5 can be written in the following form:
qic = q c L1 q L2 q c (12)
0 where q = [q1 , q2 , , qN ]. As the leader agents do not
0 0.5 1 1.5 participate in estimating the flocking center, first Nl elements
distance (m)
Fig. 1: Fuzzy input sets for separation function of q c are zero.
Six fuzzy rules have been designed for the distance input. To explain the concept of L1 and L2 , let us consider a multi-
The output function is shown in Fig. 2 for desired inter- agent system consisting of 2 leader and 4 follower agents with
distance = 1 m. nodes 1 and 2 as leaders. The interaction between them is
shown in the following graph:
0
Separation control force

2
1 2
4

6 3 4
8
0 0.5 1 1.5
Distance
Fig. 2: Output of separation control force 5 6
Using the form given in (4) ,the Laplacian matrix of this graph ith element of this vector ki can be expressed as
N N
is X 1 X 1 X
0 0 0 0 0 0 (qi qj ) + qi + q (if i L)
0 N i=1 N i=1
0 0 0 0 0 j(Ni
T
F)
1 1 5 1 1 1 N N
L= (13) X 1 X 1 X
1 1 1 5 1 1 (qi qj ) + qi + q (if i F )

1 0 1 1 4 1 T N i=1 N i=1
j(Ni L)
0 1 1 1 1 4 So in general, Assuming that qi and qi are uniformly bounded,
Now we find L1 andL2 as follows: we can conclude that ||ki || ci where ci is a positive constant,
0 0 0 0 0 0 T
i = 1, 2, .., N . Let us consider c = [c1 , c2 , ..., cN ] To prove
0 0 0 0 0 0 the convergence, let us consider the positive definite Lyapunov

1 1 2 0 0 0 function candidate to be
L1 = (14) 1
1 1 0 2 0 0 V = eT e (21)

1 0 0 0 1 0 2
Derivative of V is found as
0 1 0 0 0 1 1 1
and V = e T e + eT e
2 2
0 0 0 0 0 0
0 0 0 = eT e
0 0 0

0 0 3 1 1 1
 1 1 
L2 = (15) = eT (L2 + I)e + eT L1 q + 2 M 11T q + 2 M 11T q
N N

0 0 1 3 1 1

0 0 1 1 3 1 eT (L2 + I)e + eT c
0 0 1 1 1 3 (22)
Now,
eT (L2 + I)e min (L2 + I)||e||2 = ||e||2 (23)
The convergence of the estimation algorithm is achieved So (21) becomes
when the estimated flocking center converges V ||e||2 +eT c
PN to the actual (24)
flocking center of the group, given by N1 i=1 qi . ||e||2 +eT cm 1
So, upon convergence, where cm = maxi ci .
1 Now using Jensens inequality, eT cm 1 cm N ||e||. Assum-
q c 2 M 11T q (16)
N ing
where elements of matrix M are calculated as  = cm N (25)
mij = 0 if i L
(17) (25) can be written as
= 1 if i F V ||e||2 +||e|| (26)
1 T
N 2 M 11 q hasPN
its elements as zero corresponding to leader From which we get
agents and N1 i=1 qi corresponding to follower agents.  2   2

V ||e|| + (27)
2 2
Now, to show the -stability, let us consider the convergence
We prove the asymptotic -convergence of the algorithm. set c = {e : V (e) 2 /2}. Using LaSalle invariance
principle, any e for which ||e||>  will converge to c because
of V < 0. Moreover, V is a radially unbounded function, so
Let us define the error vector between the actual and the error in this algorithm is globally asymptotically  stable.
estimated flocking center vectors as e:
1 After finding qc , cohesion control of ith follower agent is
e = 2 M 11T q q c (18)
N uci = (qi qic ) (28)
Derivative of the error vector is found as follows: Separation control is designed using the same potential force
1
e = 2 M 11T q qc function, the control of ith
N (19) Xfollower agent being
1 usi = Hs (||qi qj ||) (29)
= 2 M 11T q + q c + L1 q + L2 q c
N jNi
Using the concept of L2 , we can write L2 N12 M 11T q = 0. Alignment control is required to align each agent towards the
Thus, average heading of neighbors. If there is a difference between
L2 e = L2 q c one agents heading and average of its neighbors headings,
From (18) we get the alignment behavior will result in a control law proportional
1 to the difference between the heading direction. In a 2D space,
e = 2 M 11T q + q c + L1 q L2 e
N (20) the heading angle of agent i is expressed as
1 1 piy
= (L2 + I)e + L1 q + 2 M 11T q + 2 M 11T q i = arctan( ) (30)
N N pix
Let us consider the vector When all the agents achieve the same velocity, their headings
1 1
K = L1 q + 2 M 11T q + 2 M 11T q will be the same. Thus the alignment behavior for agent i can
N N be implemented by making its velocity equal to the average
velocity of its neighbors. Thus the stimulus of this behavior are Algorithm 1 The modified leader-follower based flocking
the velocity differences between neighbors ((pj pi )) and the 1: Define the tracking trajectory qr (t) and pr (t).
response being the control signal denoted as fv (pj pi ). This 2: Define N , Nl and Nf .
function should posses certain properties. As the velocities 3: Initialize t = 0, qi (0), pi (0) for all i S.
are vectors, the properties will be discussed for fv (pj pi ) 4: for each time instant (each t) do
where is either x or y. fv can  be expressed as (i) Find neighborhood Ni , i S.

f (p piy )
fv (pj pi ) = v jy (31) (ii) Estimate flocking center qic using (10), i F
fv (pjx pix )
(iii) Calculate control law ui using (9) (if i L) or using
(i) fv is an odd function; (31) (if i F ), i S.
(ii) fv should span only in 1st. and 3rd quadrants, (iv) Update position of the agents using agent dynamics (4).
mathematically, (pj pi )fv (pj pi ) 0; 5: end for
(iii) fv (pj pi ) = 0 if and only if (pj pi ) = 0.
The alignment control function is designed using fuzzy logic V. S IMULATION R ESULTS
based approach. The input is defined by nine fuzzy sets as The proposed algorithm is simulated in MATLAB. We
shown in Fig. 3. consider a system of 100 agents of which 30 are leaders. The
desired trajectory of the agents is sinusoidal. The communi-
2 negative large cation range of the agents is assumed to be 4 m. Initially, the
negatve big
negative medium agents are randomly distributed in a 5 m 5 m area and their
Alignment control law

negative small

1.5 zero
positive small initial velocities are randomly chosen between -2 m/s to 2 m/s.
positive medium
positive big
positive large
The followers estimate the flocking center position and all
1 the estimated flocking center trajectories are shown in Fig. 5.
The error in estimation is always bounded, as proved before.
30
0.5

Y coordinate of position (m)

20

0 10
2 1 0 1 2
Velocity difference 0
Fig. 3: Fuzzy input sets of alignment control function 10

20
Nine fuzzy rules are designed based on the fuzzy sets by
30
choosing suitable membership function values. The output is 0 10 20 30 40
X coordinate of position (m)
50 60

given in Fig. 4. Fig. 5: FC trajectory estimated by the followers agents

4 Trajectories of all the agents are plotted in Fig. 6 along with
the final position of the agents to show the shape of the flock.
Alignment control law

2
30 Final positions
2
Y coordinate of position (m)

0 20 4
6
10 8
2
10
0 56 58 60 62

4
2 1 0 1 2 10
Velocity difference Desired trajectory
Fig. 4: Output of alignment control function 20 Leader trajectory
Follower trajectory
30
10 0 10 20 30 40 50 60 70
The final alignment behavior
X of agent i is then given by X coordinate of position (m)
Fig. 6: Trajectory of all the agents along with the desired one
uai = fv (pi pj ) (32)
jNi To show the tracking performance, the actual flocking center
Combining all the components together, control law of ith trajectory is plotted along with the desired trajectory in Fig.7.
follower agent is expressedX as 40
Y coordinate of position (m)

Desired trajectory
ufi = kc (qi qic ) Hs (||qi qj ||) fv (qi qic ) Actual flocking Center trajectory
| {z } | {z } 20
jNi
cohesion | {z } alignment
separation 0
(33)
The stability of the control law can be proved using LaSalle in- 20

variance principle [10]. The flocking network always remains

40
connected because of the position estimation of flocking center 0 10 20 30
X coordinate of position (m)
40 50 60

and cohesion control of the agents. Fig. 7: Desired trajectory and the actual FC trajectory
The complete algorithm is summarized in 1.
 Cohesion radius is defined as the maximum inter-agent
distance. It is plotted in Fig. 8 which shows that the cohesion
radius converges to a constant value.
30
Cohesion radius (m)
25
20
15
10
5
0 1
Fig. 8: Cohesion radius of the flocking group
Finally, to show working of. the whole algorithm, position
of the agents at 5 different time instants are shown in Fig. 9.
30
Y coordinate of position (m)
20
t = 15 s
10
0 t=0s
10
20
30
10 0 10
X coordinate of position (m)
Fig. 9: Position of the agents at five different time instants
VI. C ONCLUSION
In this paper, we focus on flocking control of a group of
mobile agents using leader-follower configuration. A novel
algorithm for estimation of flocking center is introduced and
the distributed control law of the agents are designed using
fuzzy logic based APF. Leaders, having the navigation infor-
mation, track the desired trajectory while the followers track
the estimated flocking center. Simulation results demonstrate
the satisfactory performance of the flocking algorithm while
maintaining connectivity of the network.
VII. ACKNOWLEDGEMENT
This work has been supported by GRC, ADNOC, Abu
Dhabi through the project EE/PI/2015449.
R EFERENCES
[1] J. Ferber, Multi-agent systems: an introduction to dis-
tributed artificial intelligence. Addison-Wesley Reading,
1999, vol. 1.
[2] C. W. Reynolds, Flocks, herds and schools: A dis-
tributed behavioral model, in ACM Siggraph Computer
Graphics, vol. 21, no. 4, 1987, pp. 2534.
[3] I. D. Couzin, J. Krause, N. R. Franks, and S. A. Levin,
Effective leadership and decision-making in animal
groups on the move, Nature, vol. 433, no. 7025, pp.
513516, 2005.
[4] S. G. Reebs, Can a minority of informed leaders deter-
mine the foraging movements of a fish shoal? Animal
behaviour, vol. 59, no. 2, pp. 403409, 2000.
[5] T. D. Seeley, Honeybee ecology: a study of adaptation
in social life. Princeton University Press, 2014.
[6] J. P. Desai, J. P. Ostrowski, and V. Kumar, Modeling and
control of formations of nonholonomic mobile robots,
IEEE Transactions on Robotics and Automation, vol. 17,
no. 6, pp. 905908, 2001.
[7] A. K. Das, R. Fierro, V. Kumar, J. P. Ostrowski, J. Splet-
zer, and C. J. Taylor, A vision-based formation control
framework, IEEE Transactions on Robotics and Au-
tomation, vol. 18, no. 5, pp. 813825, 2002.
[8] W. Wang and J.-J. E. Slotine, A theoretical study of
different leader roles in networks, IEEE Transactions
2 3 4 5 6 on Automatic Control, vol. 51, no. 7, pp. 11561161,
Time (s)
2006.
[9] M. Ji, A. Muhammad, and M. Egerstedt, Leader-based
multi-agent coordination: Controllability and optimal
control, in IEEE American control conference, 2006, pp.
13581363.
[10] D. Gu and Z. Wang, Leaderfollower flocking: algo-
rithms and experiments, IEEE Transactions on Control
Systems Technology, vol. 17, no. 5, pp. 12111219, 2009.
t = 60 s
t = 30 s [11] M. M. Zavlanos and G. J. Pappas, Controlling connec-
tivity of dynamic graphs, in 44th IEEE Conference on
t = 45 s
Decision and Control, 2005, pp. 63886393.
[12] D. P. Spanos and R. M. Murray, Robust connectivity
20 30 40 50 60 70
of networked vehicles, in 43rd IEEE Conference on
Decision and Control, vol. 3, 2004, pp. 28932898.
[13] M. C. De Gennaro and A. Jadbabaie, Decentralized
control of connectivity for multi-agent systems, in 45th
IEEE Conference on Decision and Control, 2006, pp.
36283633.
[14] D. V. Dimarogonas and K. J. Kyriakopoulos, On the
rendezvous problem for multiple nonholonomic agents,
IEEE Transactions on Automatic Control, vol. 52, no. 5,
pp. 916922, 2007.
[15] Z. Wang and D. Gu, Distributed cohesion control for
leader-follower flocking, in IEEE International Confer-
ence on Fuzzy Systems. IEEE, 2007, pp. 16.
[16] Z. Wang, D. Gu, and H. Hu, Leader-follower flocking
experiments using estimated flocking center, in Inter-
national Conference on Mechatronics and Automation.
IEEE, 2009, pp. 37333738.
[17] N. E. Leonard and E. Fiorelli, Virtual leaders, artificial
potentials and coordinated control of groups, in 40th
IEEE Conference on Decision and Control, vol. 3, 2001,
pp. 29682973.
[18] H. G. Tanner, A. Jadbabaie, and G. J. Pappas, Stable
flocking of mobile agents, part i: Fixed topology, in 42nd
IEEE Conference on Decision and Control, vol. 2, 2003,
pp. 20102015.
[19] H. G. Tanner, A. Jadbabaie, and G. J. Pappas, Stable
flocking of mobile agents part ii: dynamic topology, in
42nd IEEE Conference on Decision and Control, vol. 2.
IEEE, 2003, pp. 20162021.
[20] A. Regmi, R. Sandoval, R. Byrne, H. Tanner, and
C. Abdallah, Experimental implementation of flocking
algorithms in wheeled mobile robots, in IEEE American
Control Conference, 2005, pp. 49174922.