Flocking of Multi-agents in Constrained Environments


  • Bibhya Nand Sharma University of the South Pacific
  • Jito Vanualailai
  • Utesh Chand


Multi-agents, Lyapunov-based control scheme, split/rejoin, cooperating, flocking


Flocking, arguably one of the most fascinating concepts in nature, has in recent times established a growing stature within the field of robotics. In this paper, we control the collective motion of a flock of nonholonomic car-like vehicles in a constrained environment. A continuous centralized motion planner is proposed for split/rejoin maneuvers of the flock via the Lyapunov-based control scheme to anchor avoidance of obstacles intersecting the paths of flockmates. The control scheme inherently utilizes the artificial potential fields, within a new leader-follower framework, to accomplish the desired formations and reformations of the flock. The effectiveness of the proposed control laws are demonstrated through computer simulations.

Author Biography

Bibhya Nand Sharma, University of the South Pacific

Bibhya N. Sharma received his PhD in applied
mathematics from the University of the South Pacific, Fiji, in
2008. Currently, he is a senior lecturer in Mathematics with the
School of Computing, Information and Mathematical Sciences of the
Faculty of Science and Technology, University of the South
Pacific. Dr. Sharma is also the Coordinator of the Mathematics
Division. His main fields of interest are dynamics of nonlinear
systems, robotics, artificial neural networks and science
education. He is also actively involved with various aspects of
distance and flexible learning in the South Pacific region.




How to Cite

Sharma, B. N., Vanualailai, J., & Chand, U. (2009). Flocking of Multi-agents in Constrained Environments. European Journal of Pure and Applied Mathematics, 2(3), 401–425. Retrieved from https://ejpam.com/index.php/ejpam/article/view/263



Mathematical Physics