Source seeking with a variable Leader multi-agent fixed topology network

In this paper a source seeking method for multi-agent systems organized with the Leader-Follower scheme is studied. Our objective is to develop a controller for the headings of the agents. The group of agents is characterized by an initial leader, which steers all the agents towards an initial given heading. Another agent, an active follower, can take on the role as leader if it gets satisfactory measures from the environment. If the active follower becomes leader, it steers the whole group towards the source present in the field. We focus on a 2D case, and simulation results are reported to illustrate and validate theoretical results.