Emergent behaviour of a generalized Viscek-type flocking model

We present a planar agent-based flocking model with a distance-dependent communication weight. We derive a sufficient condition for the asymptotic flocking in terms of the initial spatial and heading-angle diameters and a communication weight. For this, we employ differential inequalities for the spatial and phase diameters together with the Lyapunov functional approach. When the diameter of the agent's initial heading-angles is sufficiently small, we show that the diameter of the heading-angles converges to the average value of the initial heading-angles exponentially fast. As an application of flocking estimates, we also show that the Kuramoto model with a connected communication topology on the regular lattice for identical oscillators exhibits a complete-phase-frequency synchronization, when coupled oscillators are initially distributed on the half circle.