Abstract
This paper presents a new control model called the swarm leading for navigating multiple mobile robots as a swarm. In the control model, only a single robot, called a leader, knows a destination of the swarm, all the other robots, called followers, determine their motion by interacting with neighbor robots. If the motion of the leader is propagated to all the followers, the swarm is navigated. However, if some of the followers are left away from the other robots and isolated, they will be never navigated. Therefore, we need a stable control model that all the robots are navigated. In this paper, we develop the swarm leading control model and show the conditions that all the robots are controllable analytically using the algebraic graph theory. The proposed control model is verified with numerical experiments.
