Tracking of a randomly moving target by flock of multiple agents using leader-follower approach

In this study, we deal with the problem when a flock of multiple agents are required to track a target moving randomly in a two-dimensional space. The target position is estimated using the Kalman filtering approach. The concept of leader-follower has been followed while dealing with the multi-agent system. One particular agent is being considered as the leader who estimates the target position and follows accordingly. Other agents, the followers, do not have the knowledge of the target position. Instead, they flock around the leader, supposing the leader position to be the flocking center. The algorithm has been simulated and the it is evident from the results that the algorithm can make the agents flock around the randomly moving target.