Related papers: V-like formations in flocks of artificial birds
We bound the time it takes for a group of birds to reach steady state in a standard flocking model. We prove that (i) within single exponential time fragmentation ceases and each bird settles on a fixed flying direction; (ii) the flocking…
Consider a flock of birds that fly interacting between them. The interactions are modelled through a hierarchical system in which each bird, at each time step, adjusts its own velocity according to his past velocity and a weighted mean of…
Long arrays of identical, self-propelling flapping flyers are inherently unstable and thus unlikely to exist without active control mechanisms. One approach to enable long in-line formations is to enforce a constant separation between the…
Collective patterns of motion emerge across biological taxa: insects swarm, fish school, and birds flock. In particular, large migratory birds form strikingly ordered V-shaped formations, which experiments and direct numerical simulations…
We explore a simplified class of models we call swarms, which are inspired by the collective behavior of social insects. We perform a mean-field stability analysis and perform numerical simulations of the model. Several interesting types of…
The self-organised motion of vast numbers of creatures in a single direction is a spectacular example of emergent order. We recreate this phenomenon using actuated non-living components. We report here that millimetre-sized tapered rods,…
The purpose of this paper is to consider flocking formations of a second order dynamic system on a sphere with a Cucker-Smale type flocking operator and cooperative control. The flocking operator consists of a weighted control parameter and…
We investigate how localized inhomogeneity affects the geometry and stability of migratory bird formations. We use a lifting-line model with a horseshoe-vortex representation to describe the longitudinal dynamics of aerodynamic…
Coordinated collective motion in bird flocks and fish schools inspires algorithms for cohesive swarm robotics. This paper presents a position-based flocking model that achieves persistent velocity alignment without velocity sensing. By…
In formation control, an ensemble of autonomous agents is required to stabilize at a given configuration in the plane, doing so while agents are allowed to observe only a subset of the ensemble. As such, formation control provides a rich…
Modern unmanned systems, including aerial, terrestrial, and underwater vehicles, are increasingly utilized in dynamic and unpredictable environments, where the presence of modeling uncertainties necessitates the development of robust and…
Several models of flocking have been promoted based on simulations with qualitatively naturalistic behavior. In this paper we provide the first direct application of computational modeling methods to infer flocking behavior from…
We undertake a systematic numerical exploration of self-organized states in a deterministic model of interacting self-propelled particles in two dimensions. In the process, we identify various types of collective motion, namely, disordered…
As the constituents of a flock are polar, one expects a fore-aft asymmetry in their interactions. We show here that the resulting antisymmetric part of the "exchange coupling" between a bird and its neighbours, if large enough, destabilizes…
Flocking, as paradigmatically exemplified by birds, is the coherent collective motion of active agents. As originally conceived, flocking emerges through alignment interactions between the agents. Here, we report that flocking can also…
This paper investigates the robust nonlinear close formation control problem. It aims to achieve precise position control at dynamic flight operation for a follower aircraft under the aerodynamic impact due to the trailing vortices…
The study of the movement of flocks, whether biological or technological is motivated by the desire to understand the capability of coherent motion of a large number of agents that only receive very limited information. In a biological…
The correlated motion of flocks is an instance of global order emerging from local interactions. An essential difference with analogous ferromagnetic systems is that flocks are active: animals move relative to each other, dynamically…
We generalize the Vicsek model to describe the collective behaviour of polar circle swimmers with local alignment interactions. While the phase transition leading to collective motion in 2D (flocking) occurs at the same interaction to noise…
Mathematical models for systems of interacting agents using simple local rules have been proposed and shown to exhibit emergent swarming behavior. Most of these models are constructed by intuition or manual observations of real phenomena,…