Converging to a Desired Orientation in a Flock of Agents
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This work concentrates on different aspects of the consensus problem, when applying it to a swarm of flocking agents. We examine the possible influence an external agent, referred to as influencing agent has on the flock. We prove that even a single influencing agent with a 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.
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