A Discrete-Time Flocking Algorithm for Agents with Simple Formation Constraint

In most studies, it is generally assumed that the transmission of information between agents is continuous in time. However, in practice, due to the limitation of the measurement unit and the control unit, the information cannot be guaranteed to be received in real-time. Therefore, this paper proposes a discrete-time flocking algorithm for agents with simple formation constraints. This algorithm can make multi-agents present a simple formation during the flocking process. The performance of the algorithm is verified through theoretical analysis and simulation. Its stability is proved using Lyapunov's stability theorem, and its performance has been verified through several indicators in simulation.