A Unified Analytical Look at Reynolds Flocking Rules

Olfati-Saber, Dr. Reza (2003) A Unified Analytical Look at Reynolds Flocking Rules. Technical Report. California Institute of Technology. [CaltechCDSTR:2003.014]

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Abstract

In this paper, we present a unified theoretical view of the so-called ``Flocking Rules of Reynolds'' introduced in 1987. No equations describing the rules or mathematical models of the mobile agents known as ``boids'' were presented in the original work by Reynolds. We show how to model a group of autonomous mobile agents by dynamic nets and achieve flocking by dissipation of the structural energy of the multi-agent system. As a by-product, we obtain a single protocol called the (alpha,alpha) protocol that encompasses all three flocking rules of Reynolds. We provide geometric interpretations of the advanced forms of some of these flocking rules. Simulation results are provided that demonstrate flocking of 100 agents towards a sink.

EPrint Type:	Monograph (Technical Report)
Additional Information:	[Alternate URL: http://www.cds.caltech.edu/~olfati/papers/acc04/acc04a.html]
Subjects:	All Records
ID Code:	36
Deposited By:	Dr. Reza Olfati-Saber
Deposited On:	23 September 2003
Unique Identifier:	CaltechCDSTR:2003.014
Official Persistent URL:	http://resolver.caltech.edu/CaltechCDSTR:2003.014
Usage Policy:	You are granted permission for individual, educational, research and non-commercial reproduction, distribution, display and performance of this work in any format.

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