Flocking control of multi-agent systems in a limited space

In this paper, flocking control in a limited space is considered. First, a new conception of safety-value is proposed to evaluate the safety between agents and obstacles in a limited space. Then, a new distributed flocking control protocol called the limited space flocking (LSF) algorithm is designed so as to extend the Olfati-Saber's control protocol to the case of a limited space. The algorithm utilizes control protocols corresponding to the safety-value, so the multi-agent system can automatically change its velocity and structure to pass the limited space both quickly and safely. Finally, simulation results show that the proposed algorithm can greatly improve the average velocity of systems and enhance the safety-value in a limited space.