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In this paper, we develop a decentralized cooperative controller for a group of mobile agents, which consists of three elements: a bounded repulsive potential field, a bounded attractive potential field, and a velocity matching term. Two cases that flocking without a leader and with a leader are considered. Under some initial conditions, we prove that for both cases the control law not only can steer...
Most existing flocking algorithms assume one single virtual leader and rely on information about both relative positions and relative velocities among neighboring agents. In this paper, we investigate the problem of controlling a flock of mobile autonomous agents to follow multiple virtual leaders using only position information in the sense that agents with the same virtual leader asymptotically...
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