Alternating spatial patterns for coordinated group motion

Motivated by recent observations of fish schools, we study coordinated group motion for individuals with oscillatory speed. Neighbors that have speed oscillations with common frequency, amplitude and average but different phases, move together in alternating spatial patterns, taking turns being towards the front, sides and back of the group. We propose a model and control laws to investigate the connections between these spatial dynamics, communication when sensing is range or direction limited, and convergence of coordinated group motions.

[1]  I. Couzin,et al.  Collective memory and spatial sorting in animal groups. , 2002, Journal of theoretical biology.

[2]  P. S. Krishnaprasad,et al.  Equilibria and steering laws for planar formations , 2004, Syst. Control. Lett..

[3]  Reza Olfati-Saber,et al.  Flocking for multi-agent dynamic systems: algorithms and theory , 2006, IEEE Transactions on Automatic Control.

[4]  Naomi Ehrich Leonard,et al.  Stabilization of Planar Collective Motion With Limited Communication , 2008, IEEE Transactions on Automatic Control.

[5]  Naomi Ehrich Leonard,et al.  Stabilization of Planar Collective Motion: All-to-All Communication , 2007, IEEE Transactions on Automatic Control.

[6]  S. Strogatz.  From Kuramoto to Crawford: exploring the onset of synchronization in populations of coupled oscillators , 2000 .

[7]  Yoshiki Kuramoto,et al.  Chemical Oscillations, Waves, and Turbulence , 1984, Springer Series in Synergetics.

[8]  Luc Moreau,et al.  Stability of multiagent systems with time-dependent communication links , 2005, IEEE Transactions on Automatic Control.

[9]  Jie Lin,et al.  Coordination of groups of mobile autonomous agents using nearest neighbor rules , 2003, IEEE Trans. Autom. Control..

[10]  Kevin M. Passino,et al.  Social Foraging Theory for Robust Multiagent System Design , 2007, IEEE Transactions on Automation Science and Engineering.

[11]  J. Krebs,et al.  Fish schooling , 2020, Nature.

[12]  Alain Sarlette,et al.  Synchronization and balancing on the N-torus , 2007, Syst. Control. Lett..