Connectivity guaranteed migration and tracking of multi-agent flocks

Research output: Chapter in Book/Report/Conference proceedingConference contribution


In this paper, we study the control strategy for connectivity guaranteed migration and trajectory tracking for multi-agent groups using artificial potential field (APF) based approach. Some agents, called active agents (AAs), that are attracted by the reference point (modeled as the virtual leader) lead the rest of the group to perform the tasks. An AA switching rule and the coupled flocking controller are proposed to realize the velocity consensus, inter-agent collision avoidance and joint connectivity of the group. Further, we show a geometric characterization and a stronger connectivity result of the group by the proposed controller under an additional assumption.

Original languageEnglish (US)
Title of host publication2008 American Control Conference, ACC
Number of pages6
StatePublished - 2008
Event2008 American Control Conference, ACC - Seattle, WA, United States
Duration: Jun 11 2008Jun 13 2008

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2008 American Control Conference, ACC
Country/TerritoryUnited States
CitySeattle, WA

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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