Flocking with obstacle avoidance: cooperation with limited communication in mobile networks
- 8 July 2004
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 2, 2022-2028
- https://doi.org/10.1109/cdc.2003.1272912
Abstract
In this paper, we provide a dynamic graph theoretic framework for flocking in presence of multiple ob- stacles. In particular, we give formal definitions of nets and flocks as spatially induced graphs and de- fine flocking. We introduce the notion of framenets and describe a procedure for automatic construc- tion of an energy function for groups of agents. The task of flocking is achieved via dissipation of this energy according to a protocol that only requires the use of local information. We show that all three rules of Reynolds are hidden in this single protocol. Three types of agents called , , and agents are used to create flocking. Simulation results are pro- vided that demonstrate flocking by 100 dynamic agents.Keywords
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