Efficiency metrics for flocking with implicit leadership

The purpose of this work is to present a novel efficiency metric for flocking with implicit leadership. Five sets of simulated experiments were conducted to compare proposed metric with metrics existing in literature. Experiments were executed in perfect and imperfect conditions, as well as in presence of malicious agents. Proposed metric shows dependencies similar to those of other metrics in perfect conditions with average correlation coefficient of 0.77. Results in imperfect conditions show that proposed metric can be used to detect group fragmentation. Proposed metric can be used to detect both kinds of studied malicious agents, as opposed to all other studied metrics.