Flocking in multi-agent systems with multiple virtual leaders

Many tracking problems in flocking are related to a single (virtual) leader with a constant velocity. In this paper, we investigate the problem of controlling a group of mobile autonomous agents to track multiple virtual leaders with varying velocities in the sense that agents with the same virtual leader attain the same velocity and track the corresponding leader. We propose a provably-stable flocking algorithm. Moreover, we show that the position and velocity of the center of the mass of all agents will exponentially converge to weighted average position and velocity of the virtual leaders. Numerical simulations are worked out to illustrate theoretical results.