# Bounded Distributed Flocking Control of Nonholonomic Mobile Robots

## TL;DR

This paper introduces a novel distributed flocking control method for nonholonomic mobile robots using bounded feedback, addressing velocity consensus, collision avoidance, and cohesion with theoretical guarantees and simulation validation.

## Contribution

It presents a new flocking control protocol specifically designed for nonholonomic robots, incorporating bounded feedback and theoretical analysis.

## Key findings

- Effective velocity consensus achieved
- Collision avoidance successfully implemented
- Cohesion maintained among robots

## Abstract

There have been numerous studies on the problem of flocking control for multiagent systems whose simplified models are presented in terms of point-mass elements. Meanwhile, full dynamic models pose some challenging problems in addressing the flocking control problem of mobile robots due to their nonholonomic dynamic properties. Taking practical constraints into consideration, we propose a novel approach to distributed flocking control of nonholonomic mobile robots by bounded feedback. The flocking control objectives consist of velocity consensus, collision avoidance, and cohesion maintenance among mobile robots. A flocking control protocol which is based on the information of neighbor mobile robots is constructed. The theoretical analysis is conducted with the help of a Lyapunov-like function and graph theory. Simulation results are shown to demonstrate the efficacy of the proposed distributed flocking control scheme.