A flocking algorithm for multi-agents in a bounded space

The conventional flocking formulation with velocity consensus does not apply to a group of agents moving in a bounded space as agents with a constant velocity unavoidably move out of any bounded space. In this paper, we give a generalized formulation for a rigid flock which accommodates the collective behaviors in a bounded space. Moreover, we propose an algorithm for addressing the issues caused by bouncing boundaries of a bounded space. The algorithm is verified in both numerical simulation and real experiments.