Global analysis of multi-agent systems based on Vicsek’s model

In this paper, the rate of heading consensus of a group of agents governed by Vicsek´s model is estimated when the initial headings of the agents are all confined in (-pi/2, pi/2). Then, under a well-known connectivity assumption, a necessary and sufficient condition for Vicsek´s model to guarantee the global heading consensus of the group is presented. Finally, we extend the result on Vicsek´s model to a class of consensus protocols, which includes the popular averaging protocol as a special case.