Flocking control of multi-agent systems with application to nonholonomic multi-robots

Research output: Contribution to journalArticlepeer-review


In this paper, we revisit the artificial potential based approach in the flocking control for multi-agent systems, where our main concerns are migration and trajectory tracking problems. The static destination or, more generally, the moving reference point is modeled by a virtual leader, whose information is utilized by some agents, called active agents (AA), for the controller design. We study a decentralized flocking controller for the case where the set of AAs is fixed. Some results on the velocity consensus, collision avoidance, group configuration and robustness are proposed. Further, we apply the proposed controller to the observer based flocking control of a team of nonholonomic mobile robots.

Original languageEnglish (US)
Pages (from-to)84-100
Number of pages17
Issue number1
StatePublished - 2009


  • Decentralized control
  • Flocking control
  • Multi-agent systems
  • Nonholonomic mobile robots

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Theoretical Computer Science
  • Information Systems
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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