The analysis and avoidance of fault agent in flocking of multi-agent

Yutian Liu, Junjie Hu 

Faculty of Electronic and Information Engineering, Zhejiang Wanli University, Ningbo, 315100, China

In the last decade considerable research efforts have been spent to the motion of flocking of multi-agent. Special attention has been put in the applications, especially for those operations in real environment where a high degree of safety as well as self-diagnostics capabilities are required. The development of effective strategies of fault diagnosis for flocking of multi-agent is a critical research task. In this paper, the flocking motion of multi-agent with a leader is studied. When flocking in the real environment, it is inevitable for agents to occur faults. The faults occurred in different agent will lead to different effects for flocking. According to the variety of the velocity of agents, the fault types are classified. A fault agent avoidance method is proposed and implemented in a multi-agent flocking system. The simulation results show the method can help the agents to avoid the fault agent.