Dynamics of Emergent Flocking Behavior

Aoyagi, Masaru; Namatame, Akira

doi:10.1007/11861201_64

Cited by 3 publications

(1 citation statement)

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“…Flocking behavior is a kind of cooperative behavior, in which individuals cooperate with their neighbors according to some simple rules to achieve certain overall objective. Flocking has attracted many scholars from fields of biology, physics, sociology, computer science, control theory with different backgrounds [1][2][3], to study the emergence mechanism of flocking behavior [4,5]. The computational complexity of flocking algorithm is independent from the number of individuals so that flocking model can widely used in various areas of parallel and distributed control systems [2,6,7], for example, material delivery multi-robots, distributed mobile sensor networks, etc.…”

Section: Introductionmentioning

confidence: 99%

Flocking with Fault Tolerant Control and Obstacles Avoidance for Mobile Robots Based on Grid Maps

Xiong

Lin

2014

AMM

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Taking α-lattice flocking as research object, the influence when faults occur in flock and its fault tolerance control algorithm is studied. The impact on flocking performance is analyzed by means of flocking property indexes when communication error, actuator failure or sensor malfunction occur. A flocking fault diagnosis method and fault tolerance control strategy based on communication and data association are introduced. Considering failure mobile robots as obstacles, a complex shaped obstacles avoidance algorithm is proposed. Simulation shows the effectiveness of the method.

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