Flocking motion control with a virtual leader

The consensus problem of multi-agent systems with a virtual leader is an important research topic. In this paper, we introduce a flocking algorithm of multi-agents moving in the multi-dimensional space with a virtual leader. The control laws of the algorithm can make sure that the state of the individuals change synchronously with the virtual leader. Collision detection and aggregation rules can control the distance between the neighbouring individuals to avoid collision or moving too far from the group effectively. The simulation results show that maintaining the queue, aggregation and obstacle avoidance can be obtained.