Reactive model for convergence of active agents to moving formations
Vander Freitas1; Elbert Macau1
1 INPE
Resumo
Collective motion emerges from interactions among individuals as observed in nature with flocks of birds and schools of fish. The rules that govern these interactions can be extended to artificial units (active agents) like mobile robots. In this work, we elaborated a reactive model to lead groups of autonomous mobile agents to moving formations, starting from random positions. In this model, the agents interact via repulsion, alignment and attraction rules, and do not keep memory of previous interactions. The result is a parallel formation of agents moving in a desired direction.
Palavras-chave: Nonlinear Dynamics and Complex Systems; Control in Complex Systems; Synchronization in Nonlinear Systems; Collective Motion; Multiagent Systems