Abstract
This paper considers the flocking of a class of swarm with switching topology in a noisy environment. A new fully distributed protocol is designed for each agent to update its state by only employing its neighbours' information. Then, under the assumptions that the gradient of the environment is bounded and the interaction digraphs are jointly connected, a sufficient condition is given to guarantee the swarm system forming and maintaining flocking. In particular, for the special case with constant noise, a sufficient condition is also presented for the swarm to achieve flocking; meanwhile, it is shown that the consensus of velocities of all agents is reached. The included numerical examples illustrate the obtained results.
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