协同流效应基础 Flocking for MultiAgent Dynamic Systems:

Inthispaper,wepresentatheoreticalframeworkfordesignandanalysisofdistributedflockingalgorithms.Twocasesofflockinginfree-spaceandpresenceofmultipleobstaclesareconsidered.Wepresentthreeflockingalgorithms:twoforfree-flockingandoneforconstrainedflocking.Acomprehensiveanalysisofthefirsttwoa