Flocking in Multi-Agent Systems with Multiple Virtual Leaders Based Only on Position Measurements

Most existing flocking algorithms assume one single virtual leader and rely on information on both relative positions and relative velocities among neighboring agents.In this paper,the problem of controlling a flock of mobile autonomous agents to follow multiple virtual leaders is investigated by using only position information in the sense that agents with the same virtual leader asymptotically attain the same velocity and track the corresponding virtual leader based on only position measurements.A flocking algorithm is proposed under which every agent asymptotically attains its desired velocity,collision between agents can be avoided,and the final tight formation minimizes all agents’ global potentials.A simulation example is presented to verify and illustrate the theoretical results.