Multi-Agent Formation Adjustment under Flocking Control Algorithms with Expected Topological Matrices

In this technical note, we briefly explain a multi-agent flocking control algorithm, which can be used to configure multi-agent position/motion/trajectory features in a multi-agent system with second-order particles by adjusting what we call the expected matrices. More specifically, by extending the Olfati-Saber’s flocking algorithm additionally with the expected position/motion/trajectory matrices, some topological features and control performances can be adjusted to certain degree while flocking is achieved in the multi-agent system. The suggested algorithm possesses the following advantages: forming more general quasi-lattice (rather than merely equitable lattices), configuring network topology during flocking, and adjusting motion performances. Numerical simulations clearly demonstrate the effectiveness of the proposed algorithm.