Flocks, herds and schools: A distributed behavioral model
SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
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In this paper, a consensus algorithm of multi-agent second-order dynamics system is proposed. The formation control of mobile multi-agent system is studied by introducing the communication delays and input delays. A consensus result is obtained by the hypothesis of directed network topology with globally reachable node, and a sufficient condition to ensure the formation control of the delayed system is presented by applying generalized Nyquist criterion. Finally, the validity of the results is shown by computer simulation.