A flocking algorithm with individual agent destinations and without a centralized leader

Brandon J. Wellman, Jesse B. Hoagg

Research output: Contribution to journalArticlepeer-review

16 Scopus citations


We present a multi-agent control method that addresses the combined problem of flocking and destination seeking. The method is completely decentralized, that is, each agent's controller relies on local sensing to determine the relative positions and velocities of nearby agents but does not rely on a centralized flock leader. Each agent has double-integrator dynamics and a potentially unique destination (i.e., position) that the agent must reach. We demonstrate that the flocking-and-destination-seeking control method accomplishes 2 objectives: (i) if an agent is far from its destination, then that agent flocks with nearby agents, and (ii) if an agent is close to its destination, then that agent approaches its destination. The flocking-and-destination-seeking algorithm is demonstrated with several numerical examples.

Original languageEnglish
Pages (from-to)57-67
Number of pages11
JournalSystems and Control Letters
StatePublished - Apr 1 2017

Bibliographical note

Funding Information:
This work is supported in part by the National Science Foundation(award number OIA-1539070) and the National Aeronautics and Space Administration(award number NNX10AL96) through NASA Kentucky Space Grant.

Publisher Copyright:
© 2017


  • Destination seeking
  • Flocking
  • Multi-agent systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science (all)
  • Mechanical Engineering
  • Electrical and Electronic Engineering


Dive into the research topics of 'A flocking algorithm with individual agent destinations and without a centralized leader'. Together they form a unique fingerprint.

Cite this