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Flocking algorithms for multi-agent systems are distributed algorithms that generate complex formational movement despite having simple rules for each agent. These algorithms, known as swarmintelligence, are flexible and robust. However, to exploit these features to generate flexible behavior in an autonomous system, greater flexibility is needed. To achieve this, these algorithms are extended to enable arbitrary lattice formation. In addition, extended flocking algorithms can be assumed to be the aggregation of oscillators and observed the behavior of synchronization. It is difficult to explain the behavior of extended flocking algorithms as a consensus problem but, by assuming the flock as the set of oscillators, it can be explained as a synchronization phenomenon.

Observation of Synchronization Phenomena in Structured Flocking Behavior