Steepest descent control laws can be used for formation shape control based on specified inter-agent distances, assuming point agents with single integration of the control action to yield velocity. Separately, it is known how to achieve equal velocity for a collection of agents in a formation using consensus ideas, given appropriate properties for the graph describing information flows. This w...

In this paper, we study flocking of a Kuramoto type model with local interaction functions. This can be used to describe dynamics an ensemble autonomous agents moving in the plane unit speed. Suppose that each agent only interacts its neighbors. Under some conditions on initial data and parameters, obtain sufficient framework for flocking, further show overall system achieves consensus state at...

We propose the Sensing of Emergent behavior in a Complex Adaptive System (SECAS), an extension of our previous work Formal Agent Based Simulation Framework (FABS). Using aggregated data from an array of proximity sensors, SECAS allows for the detection of complex behavior such as flocking of mobile robots or life forms. For validation, we develop an agentbased simulation model. Extensive simula...

This paper investigates the flocking problem in multi-agent system with time-varying delay and a virtual leader. Each agent here is subject to nonlinear dynamics. For the system, the corresponding algorithm with time-varying delay is proposed. Under the assumption that the initial network is connected, it is proved that the distance between agents is in the desired distance. The theoretical ded...

This paper describes a technique for the sonification of an idealized model of the flocking behavior of birds, fish, and insects. Flocking agents are represented by pitches that move through time to produce chords of variable dissonance. The objective of each agent is to move toward more consonant chord formations with other agents. The output of the sonification is intended to provide material...

This paper uses simulations to identify what types of human influence are afforded by the flocking and swarming structures that emerge from Couzin’s bio-inspired model [4]. The goal is to allow a human to influence a decentralized agent collective without resorting to centralized human control. Evidence is provided that, when nominal agents use switching-based control to respond to human-guided...

The rules of swarming intelligence can be applied to govern migration in the distributed genetic programming (DGP) algorithm, but they require modifications. Initial rules are taken from the flocking algorithm and adapted for DGP. As the rule for the alignment of direction is completely discarded and the remaining rules operate on implicit data of subpopulation locations, the resulting joint se...

Abstract: Analyzing and clustering documents is a complex problem. One explored method of solving this problem borrows from nature, imitating the flocking behavior of birds. One limitation of this method of document clustering is its complexity O(n). As the number of documents grows, it becomes increasingly difficult to generate results in a reasonable amount of time. In the last few years, the...

We present a planar agent-based flocking model with a distance-dependent communication weight. We derive a sufficient condition for the asymptotic flocking in terms of the initial spatial and heading-angle diameters and a communication weight. For this, we employ differential inequalities for the spatial and phase diameters together with the Lyapunov functional approach. When the diameter of th...

Shepherding in flocking models has been done since Craig Reynolds invented flocking using local interaction rules [4]. Since then most shepherding flocking models came with two agents: a herd-able agent and a shepherd. These agent were made for each other in the sense that they exert nice and realistic behavior when used together. In this thesis a method will be devised that is able to shepherd...