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Stable Flocking of Mobile Agents, Part II: Dynamic Topology
Departmental Papers (ESE)
  • Herbert G Tanner, University of New Mexico
  • Ali Jadbabaie, University of Pennsylvania
  • George J Pappas, University of Pennsylvania
This is the second of a two-part paper, investigating the stability properties of a system of multiple mobile agents with double integrator dynamics. In this second part, we allow the topology of the control interconnections between the agents in the group to vary with time. Specifically, the control law of an agent depends on the state of a set of agents that are within a certain neighborhood around it. As the agents move around this set changes, giving rise to a dynamic control interconnection topology and a switching control law. This control law consists of a a combination of attractive/repulsive and alignment forces. The former ensure collision avoidance and cohesion of the group and the latter result to all agents attaining a common heading angle, exhibiting flocking motion. Despite the use of only local information and the time varying nature of agent interaction which affects the local controllers, flocking motion is established, as long as connectivity in the neighboring graph is maintained.
Document Type
Conference Paper
Date of this Version
Copyright 2003 IEEE. Reprinted from Proceedings of the 42nd IEEE Conference on Decision and Control 2003, Volume 2, pages 2016-2021.

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Citation Information
Herbert G Tanner, Ali Jadbabaie and George J Pappas. "Stable Flocking of Mobile Agents, Part II: Dynamic Topology" (2003)
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