Converging to a Desired Orientation in a Flock of Agents

TL;DR

This paper demonstrates that a single influencing agent with a specific orientation behavior can steer a flock of agents to a desired orientation, ensuring consensus even in dynamic environments, based on a Vicsek-inspired model.

Contribution

It proves that one influencing agent with face desired orientation behavior can guarantee flock consensus in a Vicsek-inspired model, including in dynamic environments.

Findings

A single influencing agent can steer the flock to a desired orientation.

Consensus can be guaranteed even in dynamic environments.

The approach is based on a Vicsek-inspired model.

Abstract

This work concentrates on different aspects of the \textit{consensus problem}, when applying it to a swarm of flocking agents. We examine the possible influence an external agent, referred to as {\em influencing agent} has on the flock. We prove that even a single influencing agent with a \textit{Face Desired Orientation behaviour} that is injected into the flock is sufficient for guaranteeing desired consensus of the flock of agents which follow a Vicsek-inspired Model. We further show that in some cases this can be guaranteed also in dynamic environments.