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This paper investigates the flocking problem of multi-agents with partial information exchange, which means that only part, but not all, of the agents are informed of the group objective. A distributed flocking model based on the inclusion principle is provided to simplify the design and analysis of multi-agent systems. Furthermore, to reduce the communication energy consumption, an improved flocking algorithm based on the model is proposed to achieve stable flocking for all the agents. Thedoi:10.1155/2020/6424691 fatcat:iqj33rnrz5autk2cmiohuejexq