Stable flocking of mobile agents part I: dynamic topology

This is the second of a two-part paper, investigating the stability properties of a system of multiple mobile agents with double integrator dynamics. In this second part, we allow the topology of the control inter-connections between the agents in the group to vary with time. Specifically, the control law of an agent depends on the state of a set of agents that are within a certain neighborhood around it. As the agents move around this set changes, giving rise to a dynamic control interconnection topology and a switching control law. This control law consists of a combination of attractive/repulsive and alignment forces. The former ensure collision avoidance and cohesion of the group and the latter result to all agents attaining a common heading angle, exhibiting flocking motion. Despite the use of only local information and the time varying nature of agent interaction which affects the local controllers, flocking motion is established, as long as connectivity in the neighboring graph is maintained.