This paper focuses on the problem of the finite-time flocking with uniform minimal distance for second-order multi-agent systems. The solutions of these issues can be viewed as the reasonable explanations of the bird flocks or fish schools. A new discontinuous protocol, which combines a singular communication function with a weighted sum of sign functions of the relative velocities among agents, is proposed to guarantee that the agents can attract and repel with each other. Since the communication weight is singular, the existence and uniqueness theorem cannot be applied directly. However, by ...
