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This technical note studies the well-known Vicsek model with bounded time-varying delays. We consider the case that the communication delays appear in both position and heading transmissions, which is more realistic in practice. We derive delay-dependent conditions, imposed only on the initial state, to guarantee synchronization of the delayed linear and nonlinear Vicsek models. It is further seen...
This paper introduces a discontinuous rendezvous algorithm for multi-agent systems which allows a group of agents to achieve finite-time rendezvous with connectivity preservation as well as disturbance rejection. The proposed discontinuous rendezvous algorithm is based on a class of general communication functions with certain available information range. Nonsmooth stability analysis and graph theory...
This paper focuses on the finite-time distributed flocking problem for multi-agent systems under a long-range interaction. A discontinuous protocol is proposed, which is a weighted sum of signums of the relative velocities between an agent and its neighbors. By using nonsmooth stability analysis and graph theory, we derive a general condition on the initial configurations only to guarantee finite-time...
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