  This paper considers a group of mobile autonomous agents moving in Euclidean
space with point mass dynamics. We introduce a set of coordination control laws
that enable the group to generate the desired stable flocking motion. The
control laws are a combination of attractive/repulsive and alignment forces. By
using the control laws, all agent velocities asymptotically approach the
desired velocity, collisions can be avoided between agents, and the final tight
formation minimizes all agent potentials. Moreover, we prove that the velocity
of the center of mass is always equal to the desired velocity or exponentially
converges to the desired value. Furthermore, we study the motion of the group
when the velocity damping is taken into account. In this case, we can properly
modify the control laws to generate the same stable flocking motion. Finally,
for the case that not all agents know the desired final velocity, we show that
the desired flocking motion can still be obtained. Numerical simulations are
worked out to illustrate our theoretical results.
