Abstract
Horizontal movement in flocking is a common phenomenon in nature. In this paper, a quantitative model was developed to describe the collective horizontal flight of bird flocking. A decentralized feedback control strategy for a group of multi-agents has been proposed. With this control strategy or control law, all multi-agents can move within a certain height range, ensuring that freedom from collisions between neighboring agents should not occur. The control strategy is expected to be used in civilian aircraft modeling and control of intelligent service system.
Keywords: Multi-agents, Connectivity, Flocking, Horizontal flight
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