This paper studies the pattern formation problem of the Cucker-Smale(CS)flocking model.Based on graph theory and Lyapunov functions,a kind of coupling force is introduced to avoid collision between multi-agents in the process of cluster formation.In one-dimensional case...MORE This paper studies the pattern formation problem of the Cucker-Smale(CS)flocking model.Based on graph theory and Lyapunov functions,a kind of coupling force is introduced to avoid collision between multi-agents in the process of cluster formation.In one-dimensional case,it is proved that the final cluster forms a collisi...