The formation stability of swarm agents with time delays in communication was analyzed based on graph theory and control theory.
针对带通信时滞的网络化群体系统编队稳定性问题，采用图论和控制理论知识得出其稳定性条件。
The results of simulations demonstrate the feasibility and validity of formation and flocking control law (based on graph theory and APF) and the control law of reducing communications.
实验结果表明了本论文研究的基于图论和人工势场理论的多机器人编队群集控制和减少通信量的控制规则的可行性和有效性。
The flocking control based on graph theory and APF is improve to make the multiple robots reach a desired formation, at the same time the stability of the improved method has been proved.
接着对基于图论和人工势场法的多机器人群集控制方法进行了改进，使之能够使多机器人在群集运动的同时形成预定的队形，然后对改进的方法证明了其稳定性。
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