Stability Analysis of Swarm with Interaction Time Delays Using Nearest Neighbors Information

This paper investigates the collective behavior of a leader-follower system with communication time lags based on nearest neighbors information. The leaders proposed in the swarm can obtain the information from the environment, but the followers can not. Under the common assumptions, we prove that the individuals of the swarm with the local information will aggregate and form a cohesive cluster of finite size. Moreover, we can clearly see the effects of the time delays on the dynamic of the swarm from the simulations.