Heading consensus with collision avoidance for a class of multi-vehicle systems

This paper investigates the problem of heading consensus with collision avoidance for a class of multi-vehicle systems under the switching topology determined by the dynamical graph. A linear second-order consensus protocol solving the problem is proposed. It is revealed that, given any initial condition, there always exist feedback gains to realize the heading consensus without collision. Finally, simulations are given to illustrate the effectiveness of the proposed protocol.