This paper addresses the flocking motion problem for swarms of agents with two restrictions: limited communication/detection ranges and different input constraints. In this problem, the distance between pairs of agents determines if a communication/detection link exists among them, while each agent has a different control action bound. We use the notion of proximity graph to model communication/detection between agents and provide distributed controllers designed for leaderless and leader-followers flocking motion scenarios. Our proposed designs preserve the connectivity of the proximity graph while the control effort satisfies the bound of each particular agent. Unlike previous results, our protocols take advantage of the group’s input heterogeneity to use agents with a greater capacity to compensate for neighbors that are less capable of meeting the group’s requirements. Additionally, our designs are based only on local state errors and are robust to non-modeled edge failures. To illustrate the effectiveness of our proposal, we use numerical simulations of different flocking scenarios.

本文针对成群的代理商的植绒运动问题，有两个限制：有限的通信/检测范围和不同的输入限制。在此问题中，代理对之间的距离确定它们之间是否存在通信/检测链接，而每个代理具有不同的控制动作界限。我们使用接近图的概念为座席之间的通信/检测建模，并提供针对无领导者和跟随者的植绒运动场景而设计的分布式控制器。我们提出的设计在控制努力满足每个特定代理的范围的同时，保留了邻近图的连通性。与以前的结果不同，我们的协议利用了组的输入异质性来使用具有更大能力的代理来补偿能力较差的邻居，这些邻居无法满足组的要求。此外，我们的设计仅基于局部状态错误，并且对未建模的边缘故障具有鲁棒性。为了说明我们的建议的有效性，我们使用了不同植绒方案的数值模拟。