Flocking of Multi‐Agents Following a Leader with Adaptive Protocol in a Noisy Environment

This paper investigates the flocking problem of multi-agents following a leader with communication delays in a noisy environment. Based on potential fields and the LaSalle-type theorem for stochastic differential delay equations, by introducing the adaptive protocol compensating for the desired velocity, a new neighbor-based flocking protocol is proposed such that all the agents move with a virtual leader's velocity almost surely, and avoidance of collision between the agents is ensured. A numerical example is given to illustrate the effectiveness of the proposed methods.

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