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A Unified Analytical Look at Reynolds Flocking Rules

Olfati-Saber, Dr. Reza (2003) A Unified Analytical Look at Reynolds Flocking Rules. California Institute of Technology . (Unpublished)

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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.

Item Type:Report or Paper (Technical Report)
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Group:Control and Dynamical Systems Technical Reports
Record Number:CaltechCDSTR:2003.014
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Usage Policy:You are granted permission for individual, educational, research and non-commercial reproduction, distribution, display and performance of this work in any format.
ID Code:28028
Deposited By: Imported from CaltechCDSTR
Deposited On:23 Sep 2003
Last Modified:03 Oct 2019 03:28

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