  This paper addresses the need for fast, lightweight, vision-guided swarming
under limited computation and no explicit communication network or position
source. The study develops a multi-agent optic flow sensing framework, then
integrates perfect information distributed feedback with optic flow sensing to
create an analogous visually-guided feedback path for idealized inter-agent
velocity and distance structures. The Cucker-Smale flocking example is used to
develop vision-guided swarming with rigorous asymptotic convergence guarantees,
including under ignorance of agent size.
