Collective coordination of multi-agent systems guided by multiple leaders
Hu Jiang-Ping(胡江平)a)† and Yuan Hai-Wen(袁海文)b)
a School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu 610054, China; b School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China
Abstract A neighbour-based coordination scheme is proposed for a multi-agent system with multiple leaders. Under assumptions of the connectivity of the interconnection topology and a simple first-order dynamics model for each mobile agent, the results show that all the agents will flock to the polytope region formed by the leaders.
Received: 14 December 2008
Revised: 16 February 2009
Accepted manuscript online:
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