  A decentralized feedback controller for multi-agent systems, inspired by
vehicle platooning, is proposed. The closed-loop resulting from the
decentralized control action has three distinctive features: the generation of
collision-free trajectories, flocking of the system towards a consensus state
in velocity, and asymptotic convergence to a prescribed pattern of distances
between agents. For each feature, a rigorous dynamical analysis is provided,
yielding a characterization of the set of parameters and initial configurations
where collision avoidance, flocking, and pattern formation is guaranteed.
Numerical tests assess the theoretical results presented.
