Swarm robotics is an approach to collective robotics that takes inspiration from the self-
organized behaviors of social animals. Through simple rules and local interactions, swarm …

In this paper, we discuss consensus problems for networks of dynamic agents with fixed and
switching topologies. We analyze three cases: 1) directed networks with fixed topology; 2) …

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 …

The purpose of this article is to provide a tutorial overview of information consensus in
multivehicle cooperative control. Theoretical results regarding consensus-seeking under …

This paper investigates the problem of leader-following consensus of a linear multi-agent
system on a switching network. The input of each agent is subject to saturation. Low gain …

Stability theory has allowed us to study both qualitative and quantitative properties of
dynamical systems, and control theory has played a key role in designing numerous …

This note analyzes the stability properties of a group of mobile agents that align their velocity
vectors, and stabilize their inter-agent distances, using decentralized, nearest-neighbor …

We present a stable control strategy for groups of vehicles to move and reconfigure
cooperatively in response to a sensed, distributed environment. Each vehicle in the group …

All agents being informed and the virtual leader traveling at a constant velocity are the two
critical assumptions seen in the recent literature on flocking in multi-agent systems. Under …

The feasibility problem is studied of achieving a specified formation among a group of
autonomous unicycles by local distributed control. The directed graph defined by the …