Flocking Modeling and Robustness Evaluation Based on Heterogeneous Network

Considering the complexity and heterogeneity of agents in the flocking system and the diversity of relationships between agents with different dynamics. This paper initially proposes a flocking system modeling method based on heterogeneous networks, grounded in the Cucker-Smale flocking model with a leader-follower mechanism. Simulation experiments verify the superiority and reliability of the modeling method on three network topologies. Then, a flocking system robustness metric, improved Meta-Path(Im-MP), is proposed by combining the concept of Meta-Paths in heterogeneous networks. Finally, a comparison is made with the commonly used robustness metrics, and it is verified that the Im-MP metric is more suitable for evaluating the robustness of flocking systems.