Autonomous flock generation based on limited local information

Abstract

Boid is one of the major swarm behavior models, which expresses complex behavior by using three simple rules. The model needs the accurate data of all neighbors in order to control the swarm well. However, in general, it is difficult to obtain their data under practical environments. In this paper, we try to generate swarm behavior from the restricted local information and apply the proposed method to the obstacle avoidance as keeping a swarm form. The validity of the proposed method is confirmed by computer simulations.