相关论文: V-like formations in flocks of artificial birds
Bird flocking is a striking example of collective animal behaviour. A vivid illustration of this phenomenon is provided by the aerial display of vast flocks of starlings gathering at dusk over the roost and swirling with extraordinary…
Group behavior has received much attention as a test case of self-organization. There has been much written in recent years to investigate interactions within groups of agents. These agents can be animals moving in an interactive way, such…
Why do birds fly in well-defined formations? The observed formations of birds-in-flight are studied with a thermal model. Avian formation-flying is tested as a self-organization process. The maximum entropy production rate (MEPR) postulate…
Computational models of collective behavior in birds has allowed us to infer interaction rules directly from experimental data. Using a generic form of these rules we explore the collective behavior and emergent dynamics of a simulated…
Birds in a flock move in a correlated way, resulting in large polarization of velocities. A good understanding of this collective behavior exists for linear motion of the flock. Yet observing actual birds, the center of mass of the group…
UAV collective motion has become a hot research topic in recent years. The realization of UAV collective motion, however, relied heavily on centralized control method and suffered from instability. Inspired by bird flocking theory, a…
Maintaining the formation of complex structures with multiple UAVs and achieving complex trajectories remains a major challenge. This work presents an algorithm for implementing the flocking behavior of UAVs based on the concept of Virtual…
We study a model of flocking in order to describe the transitions during the collective motion of organisms in three dimensions (e.g., birds). In this model the particles representing the organisms are self-propelled, i.e., they move with…
The aerial flocking of birds, or murmurations, has fascinated observers while presenting many challenges to behavioral study and simulation. We examine how the periphery of murmurations remain well bounded and cohesive. We also investigate…
When animal groups move coherently in the form of a flock, their trajectories are not all parallel, the individuals exchange their position in the group. In this Letter we introduce a measure of this mixing dynamics, which we quantify as…
Animal swarms displaying a variety of typical flocking patterns would not exist without underlying safe, optimal and stable dynamics of the individuals. The emergence of these universal patterns can be efficiently reconstructed with…
The aim of the present paper is to elucidate the transition from collective to random behavior exhibited by various mathematical models of bird flocking. In particular, we compare Vicsek's model [Viscek et al., Phys. Rev. Lett. 75, 1226 --…
We present the first decentralized multi-copter flock that performs stable autonomous outdoor flight with up to 10 flying agents. By decentralized and autonomous we mean that all members navigate themselves based on the dynamic information…
The study of robotic flocking has received significant attention in the past twenty years. In this article, we present a constraint-driven control algorithm that minimizes the energy consumption of individual agents and yields an emergent V…
Aerial displays of starlings (Sturnus vulgaris) at their communal roosts are complex: thousands of individuals form multiple flocks which are continually changing shape and density, while splitting and merging. To understand these complex…
Swarm robotic systems utilize collective behaviour to achieve goals that might be too complex for a lone entity, but become attainable with localized communication and collective decision making. In this paper, a behaviour-based distributed…
One of the most impressive features of moving animal groups is their ability to perform sudden coherent changes in travel direction. While this collective decision can be a response to an external perturbation, such as the presence of a…
Collective motion is abundant in nature, producing a vast amount of phenomena which have been studied in recent years, including the landing of flocks of birds. We investigate the collective decision making scenario where a flock of birds…
In this paper we propose an algorithm for stabilizing circular formations of fixed-wing UAVs with constant speeds. The algorithm is based on the idea of tracking circles with different radii in order to control the inter-vehicle phases with…
Collective locomotion of swimming and flying animals is fascinating in terms of individual-level fluid mechanics and group-level structure and dynamics. Here we bridge and relate these scales through a model of formation flight that views…