Decentralized flocking control with a minority of informed agents

In this paper we study the flocking control in the case of a small subset of informed agents. In nature, only few agents in a group have the information of the target, such as knowledge about the location of a food source, or the migration route. However, they can still flock together in a group based on local information. Inspired by this natural phenomenon, a flocking control algorithm is designed to coordinate the motion of multiple agents. Based on our algorithm, all agents can form a network, maintain connectivity and track the target even only very few of them know the information of the target. The experiments and simulations are performed to demonstrate the effectiveness of the proposed algorithm.