Multi-agent swarm control through kuramoto modeling

In this paper we discuss a particular case of synchronization involving a finite population of nonlinearly coupled oscillators. We employ a discrete time approximation of the Kuramoto model in order to achieve the coordination of the heading directions of N identical vehicles moving at a constant speed in a 2D environment; this model acts as a base for a more complex distributed control, the aim of which is to direct the vehicles towards a target, adjusting their trajectories alongside their formation in the process, while avoiding collisions.