Converging to a Desired Orientation in a Flock of Agents

This work concentrates on different aspects of the \textit{consensus problem}, when applying it to a swarm of flocking agents. We examine the possible influence an external agent, referred to as {\em influencing agent} has on the flock. We prove that even a single influencing agent with a $\mathit{\text{Face}}\mathit{\text{Desired}}\mathit{\text{Orientation}}\mathit{\text{behaviour}}$ that is injected into the flock is sufficient for guaranteeing desired consensus of the flock of agents which follow a Vicsek-inspired Model. We further show that in some cases this can be guaranteed also in dynamic environments.