Flocking Model for Self-Organized Swarms

Abstract

The algorithms of self-organized swarm control refer first to two basic behaviors, these are aggregation and flocking. The present work focuses its research on coordinated movement behavior that is defined as the ability of a group of individuals (usually composed of hundreds or thousands) to move and maneuver in a coordinated manner as if they were a single structure. Such behavior refers us to studies carried out in the field of trajectory control and aggregation behavior, both being keys for the development of a coordinated movement control algorithm. Therefore, control of the system starts from the combination of these studies. The control is a leading robot model which can be designated for any unit according to the assigned task. On the other hand, all robots except the leader keep the group attached and keeping a safe distance. The simulations of the system were developed for three units and later for twelve, observing the cohesion and uniformity of the swarm in movement.