Abstract
When controlling a massively large number of mobile agents, the scalability to the number of the agents is one of the important issues. In this paper, we consider it as the motion control of flock in which a small number of leaders which know a goal navigate a large number of followers which do not. The follower determines its motion only interacting with geometrical neighbors. When we need more agents, the framework allows us to simply add followers with no adjustment or tuning, if the leaders navigate all the followers. In this paper, we analyze and discuss the flock control capacity by the leaders.
