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We consider the celebrated Cucker-Smale model in finite dimension, modellinginteracting collective dynamics and their possible evolution to consensus. Theobjective of this paper is to study the effect of time delays in the generalmodel. By a Lyapunov functional approach, we provide convergence results toconsensus for symmetric as well as nonsymmetric communication weights undersome structural conditions.

Convergence to consensus of the general finite-dimensional Cucker-Smale model with time-varying delays