Flocking of Multi‐Agents Following a Leader with Adaptive Protocol in a Noisy Environment

This paper investigates the flocking problem of multi‐agents following a leader with communication delays in a noisy environment. Based on potential fields and the LaSalle‐type theorem for stochastic differential delay equations, by introducing the adaptive protocol compensating for the desired velocity, a new neighbor‐based flocking protocol is proposed such that all the agents move with a virtual leader's velocity almost surely, and avoidance of collision between the agents is ensured. A numerical example is given to illustrate the effectiveness of the proposed methods.