A decentralized feedback controller for multi-agent systems, inspired by vehicle platooning, is proposed. The closed-loop resulting from the decentralized control action has three distinctive features: the generation of collision-free trajectories, flocking of the system towards a consensus state in velocity, and asymptotic convergence to a prescribed pattern of distances between agents. For each feature, a rigorous dynamical analysis is provided, yielding a characterization of the set of parameters and initial configurations where collision avoidance, flocking, and pattern formation is guaranteed. Numerical tests assess the theoretical results presented.

翻译：提议在车辆排队的启发下,对多试剂系统进行分散化反馈控制,分散化控制行动所产生的封闭环具有三个不同的特点:产生无碰撞轨迹,系统在速度上朝协商一致状态倾斜,以及无症状地与规定的物剂间距离模式趋同。对于每个特征,都提供严格的动态分析,对一套参数和初始配置进行定性,从而保证避免碰撞、挤散和模式形成。数字测试评估了提出的理论结果。