Flocking shape analysis of multi-agent systems

In this paper,we consider the shape control in flocking behavior of a multi-agent system with a virtual leader.Besides the traditional flocking control terms,which include a gradient-based term,a velocity consensus term and a navigational feed-back in general,a new piecewise smooth neighbor-based local controller is added to regulate the configuration to the desired flocking shape.All agent velocities approach the desired velocity asymptotically,while collisions among agents can be avoided.Furthermore,based...