This paper explains mathematical framework of physical phenomenon happening in nature and social opinion dynamics. It is divided into two parts. The first part deals with design of the trajectory tracking algorithm for multiple mobile robots and in the second part rendezvous algorithm is described. Trajectory tracking algorithm is designed using leader–follower approach in which each follower robot tracks the reference trajectory generated by the leader. Rendezvous algorithm is designed by deriving consensus equation using algebraic graph theory. Condition for achieving rendezvous point is also derived. Simulation shows the effectiveness of proposed algorithm

中文翻译：

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多机器人轨迹跟踪与交会算法

本文解释了自然界中发生的物理现象和社会舆论动态的数学框架。它分为两部分。第一部分涉及多移动机器人轨迹跟踪算法的设计，第二部分描述了交会算法。轨迹跟踪算法是使用领导者-跟随者方法设计的，其中每个跟随者机器人跟踪领导者生成的参考轨迹。Rendezvous算法是通过使用代数图论推导共识方程来设计的。还导出了达到会合点的条件。仿真验证了所提算法的有效性