Secure flocking dynamics of swarms over cooperative-antagonistic networks

Jiangfeng Yue, Weihao Li, Lei Shi, Mengji Shi, Boxian Lin and Kaiyu Qin

Chaos, Solitons & Fractals, 2026, vol. 202, issue P1

Abstract: To achieve collaborative multi-task execution for heterogeneous agent groups, this paper proposes an event-triggered predefined-time bipartite flocking controller, which leverages the convergence and divergence characteristics of agents under cooperative-antagonistic interaction networks. For agent teams to adapt to complex environments, including privacy preservation, obstacle avoidance, resource efficiency and rapid convergence, a series of key technical methods are incorporated. In particular, a decentralized, time-varying transformation is introduced to encrypt agent states and ensure privacy security. A local motion planner is incorporated to perform real-time obstacle avoidance and prevent inter-agent collisions, thereby enhancing physical security. Moreover, the controller is integrated with predefined-time theory to guarantee convergence within a predetermined time, and an event-triggered mechanism is designed to reduce signal frequency, alleviating actuation burden and saving communication and computational resources. The effectiveness of the unified controller under complex constraints is demonstrated through extensive numerical simulations.

Keywords: Multi-task execution; Bipartite flocking; Privacy preservation; Event-triggered mechanism; Predefined time (search for similar items in EconPapers)
Date: 2026
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Persistent link: https://EconPapers.repec.org/RePEc:eee:chsofr:v:202:y:2026:i:p1:s0960077925014432

DOI: 10.1016/j.chaos.2025.117430

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