Group flocking of multiple mobile agents

In this paper, we consider group flocking of multi-agent systems in which agents are dispersed to different subgroups. By using local information, the flocking algorithms are proposed to solve group flocking problem in heterogeneous and homogeneous networks, respectively. For each given algorithm, the corresponding criterions are established to ensure both velocity alignment, cohesion of each subgroup, and collision avoidance between any two agents in the whole group. The proposed protocol can be modified to realize the division of agents into any pre-assigned number of subgroups, while solves the traditional flocking problem for each subgroup. Finally, simulation results are presented to verify the effectiveness of our theoretical results.