Asynchronous consensus protocols for multi-agent systems

Motivated by the famous Vicsek's model, this paper addresses the problem of heading consensus for a multi-agent group by using asynchronous decentralized algorithms. Two algorithms, one for the leaderless case and one for the leader based case are proposed. The appealing feature of both algorithms is that neither a global coordinate system nor a common clock is required. It is proved that these algorithms guarantee (almost) global consensus of the headings under some well known connectivity assumptions