Autonomous Multi-agents in Flexible Flock Formation

In this paper, we present a flocking model where agents are equipped with navigational and obstacle avoidance capabilities that conform to user defined paths and formation shape requirements. In particular, we adopt an agent-based paradigm to achieve flexible formation handling at both the individual and flock level. The proposed model is studied under three different scenarios where flexible flock formations are produced automatically via algorithmic means to: 1) navigate around dynamically emerging obstacles, 2) navigate through narrow space and 3) navigate along path with sharp curvatures, hence minimizing the manual effort of human animators. Simulation results showed that the proposed model leads to highly realistic, flexible and real-time reactive flock formations.