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Avoiding Collisions in Flocks
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DOI：10.1109/TAC.2010.2042355.png)
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Abstract
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Among the many models for flocking systems of interacting particles, the one introduced by Cucker and Smale has attracted attention due to the fact that a convergence to flocking (i.e., to a common velocity) could be established depending on conditions on the initial state of the system. In this note we extend this model by adding to it a repelling force between particles. We show that, for this modified model, convergence to flocking is established along the same lines while, in addition, avoidance of collisions (i.e., the respect of a minimal distance between particles) is ensured.
Keywords:
Collision avoidance
convergence to consensus
particle systems
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