The decentralized aggregate motion of many individual robots is known as robotic flocking. The study of robotic flocking has received considerable attention in the past twenty years. As we begin to deploy flocking control algorithms on physical multi-agent and swarm systems, there is an increasing necessity for rigorous promises on safety and performance. In this paper, we present an overview the literature focusing on optimization approaches to achieve flocking behavior that provide strong safety guarantees. We separate the literature into cluster and line flocking, and categorize cluster flocking with respect to the system-level objective, which may be realized by a reactive or planning control algorithm. We also categorize the line flocking literature by the energy-saving mechanism that is exploited by the agents. We present several approaches aimed at minimizing the communication and computational requirements in real systems via neighbor filtering and event-driven planning, and conclude with our perspective on the outlook and future research direction of optimal flocking as a field.

许多个体机器人的分散聚合运动被称为机器人集群。机器人植绒的研究在过去的二十年里受到了相当多的关注。随着我们开始在物理多智能体和群体系统上部署集群控制算法，对安全和性能的严格承诺越来越有必要。在本文中，我们概述了文献，重点关注优化方法以实现提供强大安全保证的群集行为。我们将文献分为集群和线路集群，并根据系统级目标对集群集群进行分类，这可以通过反应或计划控制算法来实现。我们还通过代理利用的节能机制对线植绒文献进行分类。