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The decentralized aggregate motion of many individual robots is known as robotic flocking. The study of robotic flocking has received considerable attention in the past twenty years. As we begin to deploy flocking control algorithms on physical multi-agent and swarm systems, there is an increasing necessity for rigorous promises on safety and performance. In this paper, we present an overview the literature focusing on optimization approaches to achieve flocking behavior that provide strong safety guarantees. We separate the literature into cluster and line flocking, and categorize cluster flocking with respect to the system-level objective, which may be realized by a reactive or planning control algorithm. We also categorize the line flocking literature by the energy-saving mechanism that is exploited by the agents. We present several approaches aimed at minimizing the communication and computational …