Flocking in Teams of Nonholonomic Agents

The motion of a group of nonholonomic mobile agents is synchronized using local control laws. This synchronization strategy is inspired by the early flocking model proposed by Reynolds [23] and following work [30, 9]. The control laws presented ensure that all agent headings and speeds converge asymptotically to the same value and collisions between the agents are avoided. The stability of this type of motion is closely related to the connectivity properties of the underlying interconnection graph. Proof techniques are based on LaSalle’s invariant principle and algebraic graph theory and the results are verified in numerical simulations.