Flocks, herds and schools: A distributed behavioral model
SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
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This paper presents a flocking algorithm for multi-robots formation control in a free workspace with an target steering agent that takes the group target into account. The main idea is that uses flocking control algorithm to implement the "biods " model of Reynolds among multi-robots. Simulation results show that the proposed method ensure that the group formation is stabilized to a desired shape, while all the robots' velocities and directions converge to the same.