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A new leader-guarding consensus problem for heterogeneous multi-agent system with switching topology in discrete-time domain is investigated. First, a new discrete-time model of heterogeneous and mobile multi-agent system with a motile leader and variable topology is established, where the location information of the active leader is completely known but the acceleration information may not be measured...
This paper investigates the stability and boundary of a swarm with a general directed and weighted topology. The stability of a swarm is generally considered as cohesiveness. We construct a symmetric eigenmatrix and define an orthogonal eigenparameter which reflects the degree of orthogonality between the left eigenvector of the coupling matrix corresponding to its zero eigenvalue and the eigenvectors...
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