%PDF-1.4 % 1 0 obj <<>> endobj 2 0 obj <<>> endobj 3 0 obj << /pgfprgb [/Pattern /DeviceRGB] >> endobj 4 0 obj <> endobj 5 0 obj <> endobj 6 0 obj <> endobj 7 0 obj (1 Introduction) endobj 8 0 obj <> endobj 9 0 obj <> endobj 10 0 obj <> endobj 11 0 obj (2 System Model) endobj 12 0 obj <> endobj 13 0 obj <> endobj 14 0 obj <> endobj 15 0 obj (2.1 Preliminaries) endobj 16 0 obj <> endobj 17 0 obj <> endobj 18 0 obj <> endobj 19 0 obj (2.2 Model of Safe Flocking System) endobj 20 0 obj <> endobj 21 0 obj <> endobj 22 0 obj <> endobj 23 0 obj (2.3 Model as a Discrete-Time Switched Linear System) endobj 24 0 obj <> endobj 25 0 obj <> endobj 26 0 obj <> endobj 27 0 obj (2.4 Key Predicates) endobj 28 0 obj <> endobj 29 0 obj <> endobj 30 0 obj <> endobj 31 0 obj (3 Analysis) endobj 32 0 obj <> endobj 33 0 obj <> endobj 34 0 obj <> endobj 35 0 obj (3.1 Basic Analysis) endobj 36 0 obj <> endobj 37 0 obj <> endobj 38 0 obj <> endobj 39 0 obj (3.2 Safety) endobj 40 0 obj <> endobj 41 0 obj <> endobj 42 0 obj <> endobj 43 0 obj (3.3 Progress) endobj 44 0 obj <> endobj 45 0 obj <> endobj 46 0 obj <> endobj 47 0 obj (3.4 Failure Detection) endobj 48 0 obj <> endobj 49 0 obj <> endobj 50 0 obj <> endobj 51 0 obj (3.5 Simulations) endobj 52 0 obj <> endobj 53 0 obj <> endobj 54 0 obj <> endobj 55 0 obj (4 Conclusion) endobj 56 0 obj <> endobj 57 0 obj <> endobj 58 0 obj <>/P 57 0 R >> endobj 59 0 obj <>/P 57 0 R >> endobj 60 0 obj <>/P 57 0 R >> endobj 61 0 obj <>/P 57 0 R >> endobj 62 0 obj <>/P 57 0 R >> endobj 63 0 obj <>/P 57 0 R >> endobj 64 0 obj <>/P 57 0 R >> endobj 65 0 obj <>/P 57 0 R >> endobj 66 0 obj <>/P 106 0 R >> endobj 67 0 obj <>/P 106 0 R >> endobj 68 0 obj <>/P 106 0 R >> endobj 69 0 obj <>/P 106 0 R >> endobj 70 0 obj <>/P 106 0 R >> endobj 71 0 obj <>/P 106 0 R >> endobj 72 0 obj <>/P 106 0 R >> endobj 73 0 obj <>/ProcSet[/PDF/Text]>> endobj 74 0 obj <>stream xڕZY۸~_hV\$A2yr$JAGB--+>}"5S~Bf'7ǻ
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