Flocking and asymptotic velocity of the Cucker–Smale model with processing delay

The processing delay is incorporated into the influence function of the well-known Cucker–Smale model for self-organized systems with multiple agents. Both symmetric and non-symmetric pairwise influence functions are considered, and a Lyapunov functional approach is developed to establish the existence of flocking solutions for the proposed delayed Cucker–Smale model. An analytic formula is given to calculate the asymptotic flocking velocity in terms of model parameters and the variation of the position during the initial time interval.