In this paper, we study self-organized flocking in a swarm of behaviorally heterogeneous mobile robots: aligning and nonaligning robots. Aligning robots are capable of agreeing on a common heading direction with other neighboring aligning robots. Conversely, non-aligning robots lack this capability. Studying this type of heterogeneity in self-organized flocking is important as it can support th...

We discuss the Cucker-Smale’s (C-S) particle model for flocking, deriving precise conditions for flocking to occur when pairwise interactions are sufficiently strong long range. We then derive a Vlasov-type kinetic model for the C-S particle model and prove it exhibits time-asymptotic flocking behavior for arbitrary compactly supported initial data. Finally, we introduce a hydrodynamic descript...

In this paper, we study how flocking affects the accuracy and speed of individuals in the longrange “migration”. Specifically, we extend a behavior that can generate self-organized flocking in a swarm of robots to follow a homing direction sensed through the magnetic field of the Earth and evaluate how the final points reached by the flock are scattered in space and how the speed of the flock i...

Abstract. We discuss the Cucker-Smale’s (C-S) particle model for flocking, deriving precise conditions for flocking to occur when pairwise interactions are sufficiently strong long range. We then derive a Vlasov-type kinetic model for the C-S particle model and prove it exhibits time-asymptotic flocking behavior for arbitrary compactly supported initial data. Finally, we introduce a hydrodynami...