Multi-hop flocking algorithm for multi-agent system

With the time-delay of multi-hop communication taken into consideration, this paper proposes a multi-hop flocking algorithm for multi-agent system. Driven by the algorithm, agents broadcast both their own and neighbors' information in their communication ranging. The stability of algorithm and velocity matching property are analyzed theoretically. Comparing to the traditional ones, algorithm in this paper takes advantages of the multi-hop information and improves the velocity matching speed. A two-hop flocking algorithm is adopted in the numerical simulation and results give supports to the theoretical deduction.