Bearing-distance flocking with zone-based interactions in constrained dynamic environments

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F25%3A00382374" target="_blank" >RIV/68407700:21230/25:00382374 - isvavai.cz</a>

Result on the web

<a href="https://doi.org/10.1016/j.jocs.2025.102574" target="_blank" >https://doi.org/10.1016/j.jocs.2025.102574</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1016/j.jocs.2025.102574" target="_blank" >10.1016/j.jocs.2025.102574</a>

Result language

angličtina

Original language name

Bearing-distance flocking with zone-based interactions in constrained dynamic environments

Original language description

This paper presents a novel zone-based flocking control approach suitable for dynamic multi-agent systems (MAS). Inspired by Reynolds behavioral rules for boids, flocking behavioral rules with the zones of repulsion, conflict, attraction, and surveillance are introduced. For each agent, using only bearing and distance measurements, behavioral contribution vectors quantify the local separation, local and global flock velocity alignment, local cohesion, obstacle avoidance and boundary conditions, and strategic separation for avoiding alien agents. The control strategy uses the local perception-based behavioral contribution vectors to guide each agent’s motion. Additionally, the control strategy incorporates a directionally aware obstacle avoidance mechanism that prioritizes obstacles in the agent’s forward path. Simulation results validate the effectiveness of the model in creating flexible, adaptable, and scalable flocking behavior. Asymptotic stability and convergence to a stable flocking configuration for any initial conditions provided the interaction graph is a spanning tree are demonstrated. The flocking model’s reliance on locally sensed bearing and distance measurements ensures scalability and robustness, particularly in scenarios where communication is unreliable or resource-intensive. This makes it well-suited for real-world applications demanding seamless operation in highly dynamic and distributed environments.

Czech name

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Czech description

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Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

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OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

Result was created during the realization of more than one project. More information in the Projects tab.

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2025

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Journal of Computational Science

ISSN

1877-7503

e-ISSN

1877-7511

Volume of the periodical

87

Issue of the periodical within the volume

May

Country of publishing house

NL - THE KINGDOM OF THE NETHERLANDS

Number of pages

12

Pages from-to

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UT code for WoS article

001457486700001

EID of the result in the Scopus database

2-s2.0-105000796690