A swarming model is a model that describes the behavior of the social aggregation of a large group of animals or the community of humans. In this work, the swarming model that includes the short-range repulsion and long-range attraction with the presence of time delay is investigated. Moreover, the convergence to a consensus representing dispersion and cohesion properties is proved by using the Lyapunov functional approach. Finally, numerical results are provided to demonstrate the effect of time delay on the motion of the group of agents.

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The Cucker and Smale model is a well-known flocking model that describes the emergence of flocks based on alignment. The first part focuses on investigating this model, including the effect of time delay and the presence of a leader. Furthermore, the control function is inserted into the dynamics of a leader to drive a group of agents to target. In the second part of this work, leadership-based optimal control is investigated. Moreover, the existence of the first-order optimality conditions for a delayed optimal control problem is discussed. Furthermore, the Runge–Kutta discretization method and the nonlinear conjugate gradient method are employed to solve the discrete optimality system. Finally, the capacity of the proposed control approach to drive a group of agents to reach the desired places or track the trajectory is demonstrated by numerical experiment results.