关键词: 群集运动, 多智能体系统, 通信时滞

Abstract: Due to the impact of the environment and the fact that it can merely influence other agents at a limited speed, the impact of the multi-agent does not work immediately. Therefore, for the most part, there is a certain time delay. Consequently this paper concludes that when the other system parameters are constant, the smaller the coupling coefficient is, the greater communication delay the system can tolerate. This further proves the correctness of the theory. Based on Cucker-Smale model, this paper studies the communication system with time delay, mainly by employing the quadratic function theory to prove that through meeting certain conditions, the communication delay between agents can do the cluster motion. At the end of this paper, the numerical simulation results of Cucker-Smale model with communication delay are also elaborately listed.

Key words: flocking, multi-agent, communication delay