具有非线性动力学和保持连通性的多智能体系统的自适应聚集

his paper investigates rendezvous of multi-agent systems with nonlinear dynamics and a virtual leader. A bounded connectivity-preserving rendezvous algorithm is proposed for the multi-agent systems to avoid fragmentation, and it is assumed that only a fraction of agents in the group have access to the information about the position and velocity of the virtual leader. Under the assumption that the initial network is connected, local adaptation strategies for the rendezvous algorithm are introduced that enable all agents to synchronize with the virtual leader even when only one agent is informed, without requiring any knowledge of the agent dynamics.