Multi-Agent Flocking Formation with Orientating and Rotating Maneuverability

Lately, a matrix-weighted flocking control approach for second-order particle multi-agents is contrived by generalizing the Olfati-Saber flocking strategies, which can produce maneuverable (or time-varying) multi-agent formation with various specifications, such as formation scaling, dimension confining and topology setting. In this paper, the generalized Olfati-Saber flocking algorithms are further equipped with an additional term involving constant/time-varying weighting matrices for orientation and rotation maneuverability in flocking lattices. Technical and algorithmic details about orientating and rotating matrices are defined and examined; in particular, probable rotation deficiency in the suggested approach is discussed carefully as well. dozens of numerical simulations in 2D multi-agent systems are illustrated through choosing the weighting matrices as appropriately.