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Avoiding Collisions in Flocks

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2 Author(s)
Cucker, F. ; Dept. of Math., City Univ. of Hong Kong, Kowloon, China ; Jiu-Gang Dong

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.

Published in:

Automatic Control, IEEE Transactions on  (Volume:55 ,  Issue: 5 )

Date of Publication:

May 2010

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