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This study examines how multiple robotic fish, modeled by extended second-order unicycles, achieve cohesive and formation flocking under the influence of a single leader without external input. The flocking behaviors are analyzed using graph theory and the LaSalle-Krasovskii principle to ensure system stability. Collision avoidance is managed by adjusting the leader's speed or by enhancing the repulsion in the potential function. The parameters of this function influence the formation of the fish. Experimental results from both cohesive and lambdoid-shaped flocking scenarios with three robotic fish, alongside numerical and platform simulations for larger groups, confirm the effectiveness of the proposed flocking algorithms.

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Applications and Countermeasures for Distributed Coordination Control Systems with Constant Leader Velocity

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  • 发表日期：

    2025年

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  • Yongnan Jia

摘要

This study examines how multiple robotic fish, modeled by extended second-order unicycles, achieve cohesive and formation flocking under the influence of a single leader without external input. The flocking behaviors are analyzed using graph theory and the LaSalle-Krasovskii principle to ensure system stability. Collision avoidance is managed by adjusting the leader's speed or by enhancing the repulsion in the potential function. The parameters of this function influence the formation of the fish. Experimental results from both cohesive and lambdoid-shaped flocking scenarios with three robotic fish, alongside numerical and platform simulations for larger groups, confirm the effectiveness of the proposed flocking algorithms.