Developing optimal flocking control procedure is an essential problem in mobile sensor networks (MSNs). Furthermore, finding the parameters such that the sensors can reach to the target in an appropriate time is an important issue. This paper offers an optimization approach based on metaheuristic methods for flocking control in MSNs to follow a target. We develop a non-differentiable optimizati...

In this paper, novel coordinated control strategies are presented for control and analysis of multi-agents with point mass dynamics to achieve leaderless and leader-following flocking motions. Four control laws are proposed for a group of agents to achieve flocking formations. Two of them are for leaderless flocking and two for leader-following flocking relative to two different centers (mass c...

This paper deals with formation control strategies based on Virtual Structure (VS) for multi-vehicle systems. We propose several control laws for networked multi-nonholonomic vehicle systems in order to achieve VS consensus, VS Flocking and VS Flocking with collision avoidance. First, Virtual Vehicle for the feedback linearization is considered, and we propose VS consensus and Flocking control ...

This paper deals with formation control strategies based on Virtual Structure (VS) for multi-vehicle systems. We propose several control laws for networked multi-nonholonomic vehicle systems in order to achieve VS consensus, VS Flocking and VS Flocking with collisionavoidance. First, Virtual Vehicle for the feedback linearization is considered, and we propose VS consensus and Flocking control l...

For decades, scientists from various fields have been fascinated by flocking behavior for its wide engineering applications. Inspired by the predictive intelligence of bio-groups, in this paper we design a novel discrete-time model predictive control based flocking protocol, and investigate the role of predictive mechanisms in flocking of multi-agent systems by using mathematical analyses and n...

Boid flocking is a system in which several individual agents follow three simple rules to generate swarm-level flocking behavior. To control this system, the user must adjust the agent program parameters, which indirectly modifies the flocking behavior. This is unintuitive because the properties of the flocking behavior are nonexplicit in the agent program. In this paper, we discuss a domain-in...

This is the first of two-part paper that investigates the multi-mode sequential flocking with application to multiple non-holonomic mobile robot motion control. To provide a new procedure to avoid collisions and obstacles in the process of multi-robot’s sequential flocking, this paper presents the design of a multi-model flocking control for multiple mobile robots in terms of behaviour-based ro...

Dynamical flocking of multi-agent systems with multiple leaders is studied. Supposing topologies are dynamically changed with jointly-connected, flocking algorithm of multi-agent systems with time-varying delays is proposed. Multi-agent systems with uncertain parameters and time-varying delays is investigated, and sufficient conditions are given for flocking control of multi-agent systems with ...

The popularity of rule-based flocking models, such as Reynolds classic flocking model, raises the question of whether more declarative flocking models are possible. This question is motivated by the observation that declarative models are generally simpler and easier to design, understand, and analyze than operational models. We introduce a very simple control law for flocking based on a cost f...

This paper studies self-organized flocking in a swarm of mobile robots. We present a mobile robot platform developed specifically for swarm robotic studies briefly describing its sensing and communication abilities. In particular, we describe a scalable method that allows the robots to sense the orientations of their neighbors using a digital compass and wireless communication. Then we propose ...