Table 1 Complexity features per flocking model
From: Optimal flock formation induced by agent heterogeneity
Feature | Pre-assigned flocking model (1) | Time-delay model (8) | Free-flocking model (9) |
|---|---|---|---|
Reynolds' rules | 1, 2 | 2, 3 | 1, 2, 3 |
Communication network | piecewise constant undirected, weighted all-to-all | time invariant directed, binary, signed sparse | continuous undirected, weighted sparse |
Communication delay | no | yes | no |
Flock structure | pre-assigned positions | fixed point | lattice (emergent) |
Feasible control task | flock formation velocity consensus target tracking | position consensus velocity consensus | flock formation velocity consensus target tracking obstacle avoidance |
Related figures |
