Stable Flocking of Multiple Inertial Agents on Balanced Graphs

  title={Stable Flocking of Multiple Inertial Agents on Balanced Graphs},
  author={Dongjun Lee and Mark W. Spong},
  journal={IEEE Transactions on Automatic Control},
In this note, we consider the flocking of multiple agents which have significant inertias and evolve on a balanced information graph. Here, by flocking, we mean that all the agents move with a common velocity while keeping a certain desired internal group shape. We first show that flocking algorithms that neglect agents' inertial effect can cause unstable group behavior. To incorporate this inertial effect, we use the passive decomposition, which decomposes the closed-loop group dynamics into… CONTINUE READING