Departmental Papers (ESE)


In this paper, we consider a multi-agent system consisting of mobile agents with second-order dynamics. The communication network is determined by a metric rule based on a random interaction range. The goal of this paper is to determine a bound on the probability that the agents asymptotically agree on a common velocity (i.e. a flocking behavior is achieved). This bound should depend on practical conditions (on the initial positions and velocities of agents) only. For this purpose, we exhibit an i.i.d. process bounding the original system’s dynamics. We build upon previous work on multi-agent systems with switching communication networks. Though conservative, our approach provide conditions that can be verified a priori.

Document Type

Conference Paper

Subject Area


Date of this Version



Martin, S., Fazeli, A., Jadbabaie, A., & Girard, A. (2012). Multi-agent flocking with random communication radius. American Control Conference (ACC), pp.3871-3876.

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Consensus, Stochastic Process, Random Networks, Graph Theory



Date Posted: 23 January 2013

This document has been peer reviewed.