This code is for our studies "Flocking control for two-dimensional multiple agents with limited communication ranges. International Journal of Control, 94(9), 2411-2418" "Distributed flocking bounded control of second-order dynamic multiple polygonal agents. IEEE Access, 8, 200170-200179."

To run this code, create a mex file by "BuildMex.m" and run "odeAgentDynamics.m"