Flocking dynamics for multi-agent system with measurement delay

This work investigates a flocking behavior for multi-agent system with time delay from a measurement perspective. While establishing an asymptotic flocking condition related to measurement delay, we also give a controllable range for this delay such that the emergence of flocking can be guaranteed under appropriate initial configurations. These allow us to propose analytical expressions that calculate the flock radius and the asymptotic flocking velocity respectively. By means of analyzing a two-particle flock system specifically and several simulation experiments numerically, it is confirmed that the measurement delay can impact the occurrence of flocking behavior and also illustrates that the theoretical results are feasible and practical. (C) 2019 International Association for Mathematics and Computers in Simulation (IMACS). Published by Elsevier B.V. All rights reserved.