Decentralized discrete-time consensus algorithms for multi-agent systems

In this paper, inspired by Vicsek's model, two decentralized heading consensus algorithms, WHCA and LBHCA, are proposed. It is proved that, under sonie well-known connectivity assumption, the WHCA can ensure almost global consensus of the headings except the only situation where they are balanced at the beginning. For the LBHCA, the global heading consensus is guaranteed under,the same connectivity assumption. Simulation results are provided to justify the proposed algorithms.