Abstract:Flocking control of multi-agents system is challenging for agents with partially unknown dynamics. This paper proposes an online learning-based controller to stabilize flocking motion of double-integrator agents with additional unknown nonlinear dynamics by using Gaussian processes (GPs). Agents interaction is described by a time-invariant infinitesimally minimally rigid undirected graph. We provide a decentralized control law that exponentially stabilizes the motion of the agents and captures Reynolds boids m… Show more
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