Dynamic leader-follower algorithms in mobile multi-agent networks

In this paper, we consider a Linear Time-Varying (LTV) model to describe the dynamics of a leader-follower algorithms with mobile agents. We first develop regularity conditions on the LTV system matrices, according to a random motion of the agents and the underlying communication protocol. We then study the convergence of all agents to the state of the leader, and show that this requires the underlying LTV system to be asymptotically stable. We introduce the notion of slices as non-overlapping partitions of the LTV system matrices, and relate the convergence of the multi-agent network to the length of these slices. Finally, we demonstrate the convergence and steady-state of a dynamic leader-follower network through simulations.