Multi-agent flocking with random communication radius
Samuel Martin, Alireza Fazeli, Ali Jadbabaie, Antoine Girard · 2012
In this paper, we consider a multi-agent system consisting of mobile agents with second-order dynamics. The communication network is determined by a metric rule based on a random interaction range. The goal of this paper is to determine a bound on the probability that the agents asymptotically agree on a common velocity (i.e. a flocking behavior is achieved). This bound should depend on practical conditions (on the initial positions and velocities of agents) only. For this purpose, we exhibit an i.i.d. process bounding the original system's dynamics. We build upon previous work on multi-agent systems with switching communication networks. Though conservative, our approach provide conditions that can be verified a priori.