中文摘要：

群体系统蜂拥控制研究近年来受到了国内外众多领域高度重视，目前主要借鉴生物学领域关于群体蜂拥行为的研究成果，集中在个体之间交互形成的网络拓扑结构已知条件下的控制问题，分析了群体系统蜂拥控制研究的几个发展阶段，总结了群体蜂拥行为的理论研究趋势及其在工程领域中的应用研究现状，并指出了今后的发展方向。

英文摘要：

Recently, flocking control of swarm system has been attracting numerous attentions of experts from areas as diverse as biology, physics and engineering. Its current research, benefited from the results of flocking behavior in biology field, mainly focused on the control of swarm system by assuming a given connection between the interacting individuals in the network. This paper provided an introduction of development stages and current development of the investigation on flocking behavior of swarm system. Reviewed the theories and application of flocking behavior which had been done in varies fields, and proposed the directions of the further research.