Flocking for Multiagent Systems with Partial Information Exchange Based on Inclusion Principle

Figure 6

The flocking for three species of agents applying control protocol (26) in 2D. The triangles denote the positions of all agents; the heading angle of each triangle represents the velocity direction of the corresponding agent, whereas the red denotes the position of the group objective. The red, green, and blue triangles represent the agent whose equilibrium distance is 5, 10, and 15, respectively, and the number of the three species is equal to 50. An undirected edge connecting two agents means that they are neighbors of each other. (a)  sec. (b)  sec. (c)  sec. (d)  sec. (e)  sec. (f)  sec.

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