Flocking algorithm with multi-target tracking for multi-agent systems

This paper investigates a flocking algorithm with multi-target tracking for multi-agent systems. It is supposed that every target can accept a certain number of agents. Which target is chosen by an agent is determined by the distances from the agent to the targets and the number of agents accepted by targets. Based on whether agents move toward the same target or toward separate targets, two kinds of potential functions are presented to carry out the flocking algorithm. Then the inputs of the dynamic system can be obtained. Under the driving of the inputs, agents with the same target can make a flocking during the tracking process, and the agents with different targets separate from each other. A time-varying parameter is designed to control the maximum velocity of agents in the proposed algorithm. Lyapunov stability theorem is applied to prove the stability of the dynamic system. Finally, simulation results verify the effectiveness of the proposed algorithm.