Fixed-time flocking problem of a Cucker–Smale type self-propelled particle model

Zhang, Huihui; Nie, Pingping; Sun, Yongzheng; Shi, Yong

doi:10.1016/j.jfranklin.2020.05.012

Cited by 8 publications

(2 citation statements)

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“…A controller is an essential structure that is used in the implementation and simulation of swarm systems [15]. There are three main approaches to formation control systems [4,12,16]: the leader-follower approach [12,[17][18][19], the virtual structure approach [1,20,21], and the behavior-based approach [5,14,16,[22][23][24][25][26]. Despite the simplicity of the leader-follower approach, it may suffer from being highly dependent on the leader agent and from the large amount of information exchange required between the leader and each of the followers due to being a centralized system [4].…”

Section: Introductionmentioning

confidence: 99%

“…Consequently, fewer efforts have been made in studying the effects of flocking parameters, such as flock size, on the performance of the developed systems. Zhang et al [26] have studied the impact of changing flock size on reaching the goal in a specific time. They conducted two types of experiments; the first one was applied to test their work, with the objective of reaching the goal in a fixed time.…”

Section: Introductionmentioning

confidence: 99%

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Effect of Formation Size on Flocking Formation Performance for the Goal Reach Problem

et al. 2022

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Flocking is one of the swarm tasks inspired by animal behavior. A flock involves multiple agents aiming to achieve a goal while maintaining certain characteristics of their formation. In nature, flocks vary in size. Although several studies have focused on the flock controller itself, less research has focused on how the flock size affects flock formation and performance. In this study, we address this problem and develop a simple flock controller for goal-zone-reaching tasks. The developed controller is intended for a two-dimensional environment and can handle obstacles as well as integrate an additional invented feature, called sensing power, in order to simulate the natural dynamics of migratory birds. This controller is simulated using the NetLogo simulation tool. Several experiments were conducted with and without obstacles, accompanied by changes in the flock size. The simulation results demonstrate that the flock controller is able to successfully deliver the flock to the goal zone. In addition, changes in the flock size affect multiple metrics, such as the time required to reach the goal (and, consequently, the time required to complete the flocking task), as well as the number of collisions that occur.

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