Adaptive Spacing Policy Design of Flocking Control for Multi-agent Vehicular Systems

Fengchen Wang, Gang Wang, Yan Chen

Research output: Contribution to journalConference articlepeer-review


This paper proposes a novel adaptive spacing policy (ASP) of flocking control for multi-agent systems to accommodate complex and specific environments of engineering applications, such as connected and automated vehicles (CAVs). Compared with the existing rigid spacing policy (RSP) that uses a predefined fixed lattice, the ASP involves an ellipse interaction field around every agent, which is adaptive to the agent's speed and orientation. Leveraged by the proposed ASP, an augmented flocking control protocol can achieve heterogeneous lattice formations for a group of agents. The stability analysis proves that the flocking control protocol with the ASP can achieve speed consensus, cohesion, and separation asymptotically. Compared with the RSP, the simulation results demonstrate that the ASP-based flocking control can successfully achieve heterogeneous lattice formation, which displays the features of vehicle motions in CAV applications.

Original languageEnglish (US)
Pages (from-to)524-529
Number of pages6
Issue number37
StatePublished - 2022
Event2nd Modeling, Estimation and Control Conference, MECC 2022 - Jersey City, United States
Duration: Oct 2 2022Oct 5 2022


  • adaptive spacing policy
  • automated vehicles
  • connected
  • flocking control
  • multi-agent systems

ASJC Scopus subject areas

  • Control and Systems Engineering


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