Extension of the Cucker-Dong Flocking with a Virtual Leader and a Reactive Control Law

Control of multi-agent systems with the focus on flocking has been studied heavily in recent years. The principles of interactions between independent agents have applications in the fields of swarm robotics, biology, economics and in control of human crowd motion. Multi-agent dynamic systems can be described by large-scale systems of N coupled nonlinear differential equations. The goal of this study is to move a flock of Cucker-Dong dynamics through a virtual leader without collision with different shaped obstacles. This paper proposes an extension of the Cucker-Dong particle system to perform group maneuvers in a safe manner.