Flocking of Robots with Predictive Localization

The behavior of flocking is a natural phenomenon in living things that gives many advantages. The algorithm of flocking is being developed in multi-agents control for mobile robots. One popular model of flocking control is using virtual leader-follower method with artificial potential field. This model requires no physical leader and can be implemented easily. However, this model requires active participation of all flocking agents. This paper proposes a two-layer system architecture with localization prediction system. With discrete system and time delay in trajectory tracking, the performance of the flocking of nonholonomic robots system is analyzed in simulation. Specific allowed time delay and desired sampling period of sensor and communication system used in the implementation is investigated.