在没有虚拟领导者的情况下能够实现多智能体编队，并能够避免智能体之间的碰撞-Under no circumstances can the virtual leader of the multi-agent formation, and the ability to avoid collisions between agent

可以实现多智能体编队，即多个分散智能体聚集到一块且相互之间保持一定的距离向前运动-Can achieve multi-agent formations that gathered more than a dispersion agent, and maintain a certain distance each other moving forward