Flocking algorithm for multi-robots formation control with a target steering agent

This paper mainly uses flocking control algorithm to implement the ldquobiodsrdquo model of Reynolds among multi-robots. We present two flocking algorithms: the first algorithm is a gradient-based algorithm with a velocity consensus protocol, and the second one is the main flocking algorithm for robot formatin control in a free workspace with an additional target steering agent that takes the group target into account. We find that the first algorithm only guarantees the creation of flocking in some special initial states and the second algorithm can create flocking for a generic set of initial states. Simulation results show that the proposed method ensures the group formation is stabilized to a desired shape, while all the robots´ velocities and directions converge to the same.