Research Repository

Leader–Follower Flocking: Algorithms and Experiments

Dongbing Gu, and Zongyao Wang, (2009) 'Leader–Follower Flocking: Algorithms and Experiments.' IEEE Transactions on Control Systems Technology, 17 (5). pp. 1211-1219. ISSN 1063-6536

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In this paper, we investigate a leader-follower flocking system where few members are group leaders who have global knowledge (a desired trajectory), while majority of the members are group followers who can communicate with neighbors but do not have global knowledge. The followers do not even know who the leaders are in the group. The flocking group is able to track a specific trajectory led by group leaders. In this system, all group members estimate the position of flocking center by using a consensus algorithm via local communication in order to keep the flocking group connected. Based on the estimated position of flocking center, a leader-follower flocking algorithm is proposed, and its stability is proved. A group of real robots "wifibots"are used to test the feasibility of the algorithm. Experiments show that this leader-follower flocking system can track the desired trajectory led by group leaders. © 2009 IEEE.

Item Type: Article
Uncontrolled Keywords: Cooperative control; distributed control; flocking behavior; leader-follower flocking; multirobot systems
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Divisions: Faculty of Science and Health
Faculty of Science and Health > Computer Science and Electronic Engineering, School of
SWORD Depositor: Elements
Depositing User: Elements
Date Deposited: 20 Oct 2012 09:06
Last Modified: 15 Jan 2022 00:44

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