Almost satisfaction of a joint connectivity condition for multi-agents in a bounded plane
Zhiyong Chen, Hai‐Tao Zhang · NOVA (University of Newcastle Australia) · 2011
In a flocking scenario of multi-agent systems, the connectivity of the group of agents is caused either by individual's local cohesion interaction mechanism or by external boundary constraints. The latter case is particularly interesting when an individual's cohesion ability is not reliable due to the limitation of communication range. The effect of external boundary constraints on the connectivity property of multi-agents has been intensively investigated in natural observation and engineering simulation. A theoretical analysis is given in this paper which reveals that a group of agents in a bounded plane can be almost always jointly connected and hence form a complete flock.