Collision-Free Source Seeking and Flocking Control of Multiagents With Connectivity Preservation

• 成果类型: Article
• 署名作者: Li, Tinghua; Jayawardhana, Bayu
• 署名单位: University of Groningen
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2025.3647313
• 发表日期: 2026
• 关键词: coordination; systems; agents

摘要

In this article, we present a distributed source-seeking and flocking-control method for networked multiagent systems with nonholonomic constraints. Based solely on identical on-board sensor systems, which measure the source local field, the group objective is attained by appointing a leader agent to seek the source while the remaining follower agents safely form a cohesive flocking with their neighbors using a distributed flocking control law in a connectivity-preserved undirected network. To guarantee safe separation and group motion for all agents and to solve the conflicts with the cohesion flocking rule of Reynolds, the distributed control algorithm is solved individually through a feasible control barrier function-based optimization problem with complex constraints, which guarantees the interagent collision avoidance and connectivity preservation. Stability analysis of the closed-loop system is presented, and the efficacy of the methods is shown in simulation results.