An Improved Fast Flocking Algorithm with Obstacle Avoidance for Multiagent Dynamic Systems

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="659805.fig.0010a" src="https://static-preview.hindawi.com/articles/jam/volume-2014/659805/figures/659805.fig.0010a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Mathematical model</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="659805.fig.0010b" src="https://static-preview.hindawi.com/articles/jam/volume-2014/659805/figures/659805.fig.0010b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Practical application in smart environment</td></tr></table></td></tr></table>

<table>The model of formation control for quadrotor helicopters under the condition of different height.</table>

Journal of Applied Mathematics

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Figure 10

Figure 10: An Improved Fast Flocking Algorithm with Obstacle Avoidance for Multiagent Dynamic Systems 