Multi-agent trajectory control under faulty leader: Energy-level based leader election under constant velocity

A multi-agent flocking control algorithm consisting of leader and agents moving at constant velocity with a method for leader election is proposed in this paper. Due to a faulty leader, connectivity lost between itself and the agents, leading to divergence from trajectory path. Hence, leader election algorithm is developed to replace a faulty leader, thereby regain control of the path of the agents. This leader election algorithm utilizes energy level of each agent. All agents and leader have a certain energy based on theoretical and measured control inputs. This energy represents the degree of deviation from desired path, hence, the agent with least utilised energy, will be elected leader.