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Converging to a Desired Orientation in a Flock of Agents (2010.04686v2)
Published 9 Oct 2020 in cs.MA
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.