Multi-agent flocking under topological interactions [article]

Samuel Martin
2013 arXiv   pre-print
In this paper, we consider a multi-agent system consisting of mobile agents with second-order dynamics. The communication network is determined by the so-called topological interaction rule: agents interact with a fixed number of their closest neighbors. This rule comes from observations of real flock of starlings. The non-symmetry of the interactions adds to the difficulty of the analysis. The goal of this paper is to determine practical conditions (on the initial positions and velocities of
more » ... ents) ensuring that the agents asymptotically agree on a common velocity (\ie a flocking behavior is achieved). For this purpose, we define a notion of hierarchical structure in the interaction graph which allows to establish such conditions, building upon previous work on multi-agent systems with switching communication networks. Though conservative, our approach gives conditions that can be verified a priori. Our result is illustrated through simulations.
arXiv:1311.6046v1 fatcat:3pnf67mdmzeynk5fjl2vhoorv4