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Multi-agent flocking with asynchronous cooperative-competitive interactions
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DOI：10.1016/j.jfranklin.2025.108392.png)
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Abstract
En 中文
Flocking aims to induce collective aggregation through complex interactions among interconnected agents. Given the pervasive and intricate co-opetitive dynamics in multi-agent systems, realizing flocking behavior in such networks presents both practical relevance and significant challenges. This paper investigates the flocking dynamic behavior of multi-agent systems with cooperative and competitive relationships under asynchronous communication. Building on the classical Cucker-Smale (C-S) model, a distributed control protocol with asynchronous communication is designed. In this protocol, the timing of communication is determined by each agent individually, rather than being updated synchronously by a unified clock. The protocol quantifies the intensity of cooperation and competition by introducing bio-inspired nonlinear positive/negative weight functions related to interaction distances. The convergence of the dynamic model is rigorously verified through mathematical analysis using products of super-stochastic matrices, establishing an algebraic relationship between the degrees of cooperation and competition that ensures emergent flocking behavior. Finally, numerical simulations validate the effectiveness of the proposed algebraic conditions in achieving flocking behavior.
Keywords:
Multi-agent systems
Flocking behavior
Cooperative-competitive networks
Asynchronous interactions
Journal
J
IF:
4.2
Papers:
925
Citations:
0
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