Abstract:

 For the problem of multiagent systems with a virtual leader, we introduce a flocking algorithm of multiagents moving in the multidimensional space with a virtual leader. The control laws of the algorithm ensure synchronous changes of state of individuals with the virtual leader. Collision detection and aggregation rules can effectively control the distance between neighboring individuals to avoid collision or moving too far from the group. Simulation gives good results in maintaining the queue, aggregation and obstacle avoidance.

Key words:  virtual leader; collision detection; aggregation