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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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