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## WHAT IS IT?
The simulation demonstrates that by choosing the appropriate sampling period, gathering of
multi-agent system (4 agents) can be reached if and only if the sampling period is chosen from
some particular time intervals depending on the coupling strengths the connectivity topology.

## HOW IT WORKS
The simulation is updated via the state space representation of a switched dynamical system
with switches defined by the sampling period.

## HOW TO USE IT
Setup – initialize locations.
Go – run simulation.
Alpha – strength alpha.
Beta – strength beta.
Update Time – sample period.

## THINGS TO NOTICE
Choosing 0 < beta < alpha will almost surely lead to gathering.
Update time effects the convergence rate.

## NETLOGO FEATURES
Euler integrator

## CREDITS AND REFERENCES
Written by Vitaly Shalumov, based on:

Yu Wenwu Zheng Wei Xing Chen Guanrong Ren Wei Cao Jinde. “Second-order
consensus in multi-agent dynamical systems with sampled position data”. In:
[Automatica 47 (2011), pp. 1496–1503](https://doi.org/10.1016/j.automatica.2011.02.027).

As part of the requirements of a [Seminar in Multi-Agent Robotic Systems](https://mars.cs.technion.ac.il/projects/?pr=2).

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