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.