Collective fission behavior in swarming systems with density-based interaction
发布时间：2024-08-09
点击次数：
- 所属单位：
- 其他
- 发表刊物：
- Physica A
- 关键字：
- Swarming systems;Robotic swarm;Density field interaction;Collective fission behavior;Spontaneous split
- 摘要：
- In this paper we revisit the self-organized collective behavior of swarms with density field interaction that is inspired from the model of smoothed particle hydrodynamics.For a homogeneous swarming system a novel collective fission behavior is seen to emerge where equal to or more than two sub-clusters spontaneously come from a single connected cluster. The focus of this study is on the analysis of collective fission behavior in trigger conditions, function manners and dynamic characteristics. For the first time,we are able to predict the stability of a single connected cluster, the trigger conditions of collective fission behavior, the number of sub-clusters and the group size of each subcluster. The analysis results also show that the collective fission behavior is irreversible by changing the control parameters and the group size. However, it is reversible when the sensing range is enlarged to encompass all sub-clusters. These characteristics are evaluated in simulations as well as on the real swarm robotic system. The study of collective fission behavior provides an elegant insight for how self-organized segregation emerges in biological swarms and artificial systems.
- 合写作者：
- 郑志成,彭星光
- 第一作者：
- 雷小康
- 论文类型：
- 期刊论文
- 是否译文：
- 否
- 发表时间：
- 2022-06-16