Multi-flocking of networked non-holonomic mobile robots with proximity graphs

In this study, the authors develop the collective motion of flocking of networked mobile robots with non-holonomic model via proximity graphs. To satisfy the requirements of different tasks, they formulate the notion of multi-flocking for networked non-holonomic mobile robots. Based on the neighbouring information, they propose a novel distributed control protocol for multi-flocking problem of networked non-holonomic mobile robots using potential function. By combing algebraic graph theory with Barbalat's lemma, the proposed distributed control protocol guarantees that the robots in the same subgroup asymptotically move with the same velocity and heading angle, while ensuring connectivity preservation of each subgraph and collision avoidance of the whole systems, if the initial proximity subgraph is connected. Finally, a numerical simulation is given to illustrate the theoretical results.