Stable flocking of mobile agents in mixed absolute and relative navigations context with communication

In this paper, we studied the flocking motion of multiple agents in mixed absolute/relative navigation condition with communication. The difference between navigation and communication in the role taken part in the neighbourhood relations was firstly pointed out. We gave a criterion which can judge whether a communication neighbourhood graph with mixed absolute/relative navigation devices is connected. We also proposed an algorithm to achieve the absolute navigation using the communication. Based on above preliminaries, we design a control law to stabilize the flocking motion of multiple agents whose dynamics are nonlinear with noise. The simulation in three different scenarios was performed and the corresponding results illustrated the effectiveness of the control law.