Direction election in flocking swarms

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• 作者：Ohad Ben-Shahar ; Shlomi Dolev ; Andrey Dolgin ; Michael Segal
• 关键词：Direction election ; Flocking ; Swarms ; Mobile robots
• 刊名：Ad Hoc Networks
• 出版年：January, 2014
• 年：2014
• 卷：12
• 期：Complete
• 页码：250-258
• 全文大小：541 K

文摘

Swarm formation and swarm flocking may conflict each other. Without explicit communication, such conflicts may lead to undesired topological changes since there is no global signal that facilitates coordinated and safe switching from one behavior to the other. Moreover, without coordination signals multiple swarm members might simultaneously assume leadership, and their conflicting leading directions are likely to prevent successful flocking. To the best of our knowledge, we present the first set of swarm flocking algorithms that maintain connectivity while electing direction for flocking, under conditions of no communication. The algorithms allow spontaneous direction requests and support direction changes.