The study of robotic flocking has received considerable attention in the past twenty years. As we begin to deploy control algorithms on physical multi-agent and swarm systems, there is an increasing necessity for rigorous promises safety performance. In this paper, present overview literature focusing optimization approaches achieve behavior that provide strong guarantees. We separate into clus...

This paper investigates the flocking control of multi-agent systems with unknown nonlinear dynamics while virtual leader information is heterogeneous. The uncertain nonlinearity in considered, and weaker constraint on velocity measurements assumed. In addition, a bounded assumption also considered. It than Lipschitz condition adopted most methods. To avoid fragmentation, we construct new potent...

In this thesis, we study the self-organized flocking of a swarm of robots that is informed about two target directions. We already know that a small proportion of informed robots can lead the whole group to the given target direction. In some cases, the informed individual may differ in their preferred direction because of the quality and the quantity of food source, or because of age and exper...

In this paper, we study the distributed coordination and control of a set of asynchronous, anonymous, memoryless mobile vehicles that can freely move on a twodimensional plane but cannot communicate among themselves. In particular, we analyze the problem of forming a certain pattern and following a designated vehicle, referred to as the leader, while maintaining the pattern: the flocking proble...

We consider the generalized flocking problem in multiagent systems, where the agents must drive a subset of their state variables to common values, while communication is constrained by a proximity relationship in terms of another subset of variables. We build a flocking method for general nonlinear agent dynamics, by using at each agent a near-optimal control technique from artificial intellig...

In this paper, we propose a connectivity-preserving flocking algorithm for multi-agent systems in which the neighbor set of each agent is determined by the hybrid metric-topological distance so that the interaction topology can be represented as the range-limited Delaunay graph, which combines the properties of the commonly used disk graph and Delaunay graph. As a result, the proposed flocking ...

We present pathwise flocking dynamics and local sensitivity analysis for the Cucker-Smale(C-S) model with random communications and initial data. For the deterministic communications, it is well known that the C-S model can model emergent local and global flocking dynamics depending on initial data and integrability of communication function. However, the communication mechanism between agents ...

The safe flocking problem requires a collection of N mobile agents to (a) converge to and maintain an equi-spaced lattice formation, (b) arrive at a destination, and (c) always maintain a minimum safe separation. Safe flocking in Euclidean spaces is a well-studied and difficult coordination problem. Motivated by real-world deployment of multi-agent systems, this paper studies one-dimensional sa...

The safe flocking problem requires a collection of mobile agents to (a) converge to and maintain an equi-spaced lattice formation, (b) arrive at a destination, and (c) always maintain a minimum safe separation. Safe flocking in Euclidean spaces is a wellstudied and difficult coordination problem. In this paper, we study one-dimensional safe flocking in the presence of actuator faults and direct...

Flocking is the phenomenon in which self-propelled individuals, using only limited environmental information and simple rules, organize into an ordered motion. This ordering even occurs at two dimensions where ordering is not possible equilibrium systems. This paper will explain the biological and physical motivation for studying flocking, and the computational, theoretical, and experimental ef...