Figure 13

Simulation of the second-order swarming model with time delay (\(\tau =5\)) for five agents, \(N=10 \), and time \(t\in [0,1000]\). The corresponding parameters are given as \(\alpha =0.7\), \(\beta =0.5\), \(C_{a}=1\), \(l_{a}=100\), \(C_{r}=2 \), and \(l_{r}=1\). The position of each agent is depicted by a circle and the velocity is represented by a vector at agent’s position