Connectivity Preserving Flocking without Velocity Measurement

In this paper, we address the design of a decentralized controller for connectivity‐preserving flocking, where each agent only can access to the position information of the agents within its sensing zone. An output vector, based on the position information alone, is constructed to replace the role of velocity, and some bounded attractive and repulsive forces are integrated together to design the controller. We prove that the controller not only synchronizes all agents in a stable formation, but also enables collision avoidance and connectivity preserving all of the time, when the initial condition meets certain requirements. Moreover, a leader‐follower method is used to guide the group to a desired direction, where the followers can sense the leader only if the distance between them is less than the communication radius.