A simple replication of the results. It utilizes the Euler update described in the paper.
R. Sepulchre, D. A. Paley and N. E. Leonard, "Stabilization of Planar Collective Motion: All-to-All Communication," in IEEE Transactions on Automatic Control, vol. 52, no. 5, pp. 811-824, May 2007, doi: 10.1109/TAC.2007.898077.