中文摘要：

在由多重领导人代理人和多重追随者组成的自治代理人的组瞄准，与多重领导人一起的一个结队的行为方法和一条全球轨道被建议。在这个结队的方法，组领导人能达到全球轨道的信息，当每个追随者能与它的邻居和相应领导人一起交流，但是没有全球知识时。到一个分布式的控制方法，建议方法第一在全球轨道上设置一个活动的想象的点保证中心和领导人代理人的平均速度满足全球轨道的限制。第二，二阶段的策略被建议让整个组满足全球轨道的限制。而且，在这个组和需要的轨道的中心之间的距离根据追随者的数字比率详细被分析到领导人。一方面，这样，这个组的代理人出现基本结队行为；在另一方面，这个组的中心满足全球轨道的限制。模拟结果表明建议方法的有效性。

英文摘要：

Aiming at the group of autonomous agents consisting of multiple leader agents and multiple follower ones, a flocking behavior method with multiple leaders and a global trajectory was proposed. In this flocking method, the group leaders can attain the information of the global trajectory, while each follower can communicate with its neighbors and corresponding leader but does not have global knowledge. Being to a distributed control method, the proposed method firstly sets a movable imaginary point on the global trajectory to ensure that the center and average velocity of the leader agents satisfy the constraints of the global trajectory. Secondly, a two-stage strategy was proposed to make the whole group satisfy the constraints of the global trajectory. Moreover, the distance between the center of the group and the desired trajectory was analyzed in detail according to the number ratio of the followers to the leaders. In this way, on one hand, the agents of the group emerge a basic flocking behavior; on the other hand, the center of the group satisfies the constraints of global trajectory. Simulation results demonstrate the effectiveness of the proposed method.