A Hybrid Multi-Modal Approach For Flocking

In this paper, we propose a multi-modal control approach for flocking in the face of obstacles. Our approach improves the resilience of the flock to the problem of fragmentation which exists within many current flocking approaches. In our method, the flocking agents dynamically change mode and adapt their flocking behaviour based on their current context. An initial indication of the efficacy of this method is determined through simulation. Our simulations show that this approach produces flocking behaviour which is more resilient; resulting in fewer collisions, reduced fragmentation, and a more cohesive flock when compared to existing techniques.