A collisionless singular cucker-smale model with decentralized formation control

Young Pil Choi, Dante Kalise, Jan Peszek, Andres A. Peters

Research output: Contribution to journalArticlepeer-review

36 Scopus citations


We address the design of decentralized feedback control laws inducing consensus and prescribed spatial patterns over a singular interacting particle system of Cucker-Smale type. The control design consists of a feedback term regulating the distance between each agent and preassigned subset of neighbors. Such a design represents a multidimensional extension of existing control laws for 1D platoon formation control. For the proposed controller, we study consensus emergence, collision-avoidance, and formation control features in terms of energy estimates for the closed-loop system. Numerical experiments in 1, 2, and 3 dimensions assess the different features of the proposed design.

Original languageEnglish
Pages (from-to)1954-1981
Number of pages28
JournalSIAM Journal on Applied Dynamical Systems
Issue number4
StatePublished - 2019


  • Decentralized control
  • Flocking
  • Formation control
  • Multi-agent systems
  • Pattern formation


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