Flocking for multi-agent dynamic systems: algorithms and theory

  title={Flocking for multi-agent dynamic systems: algorithms and theory},
  author={Reza Olfati-Saber},
  journal={IEEE Transactions on Automatic Control},
  • R. Olfati-Saber
  • Published 13 March 2006
  • Computer Science
  • IEEE Transactions on Automatic Control
In this paper, we present a theoretical framework for design and analysis of distributed flocking algorithms. Two cases of flocking in free-space and presence of multiple obstacles are considered. We present three flocking algorithms: two for free-flocking and one for constrained flocking. A comprehensive analysis of the first two algorithms is provided. We demonstrate the first algorithm embodies all three rules of Reynolds. This is a formal approach to extraction of interaction rules that… 
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