Flocks, herds and schools: A distributed behavioral model
SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
Interaction and intelligent behavior
Interaction and intelligent behavior
Self-organized flocking with a mobile robot swarm
Proceedings of the 7th international joint conference on Autonomous agents and multiagent systems - Volume 1
Negotiation of goal direction for cooperative transport
ANTS'06 Proceedings of the 5th international conference on Ant Colony Optimization and Swarm Intelligence
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We implement a self-organized flocking behavior in a group of mobile robots and analyze its transition from an aligned state to an unaligned state. We briefly describe the robot and the simulator platform together with the observed flocking dynamics. By experimenting with robotic and numerical systems, we find that an aligned-to-unaligned phase transition can be observed in both physical and simulated robots as the noise level is increased, and that this transition depends on the characteristics of the heading sensors. We extend the Vectorial Network Model to approximate the robot dynamics and show that it displays an equivalent phase transition. By computing analytically the critical noise value and numerically the steady state solutions of this model, we show that the model matches well the results obtained using detailed physics-based simulations.