Abstract
The collective motion and compact spatial organization of active agents have attracted attention due to their widespread occurrence in active matter systems as well as their valuable applications in unmanned aerial vehicles (UAVs). In our work, a Vicsek-like model with a spatial perception cone is designed to implement spatial compaction and orientational synchronization. It is observed that the co-existent condensations in both coordinate and momentum spaces can occur within a limited range of the perception cone angle. The degrees of condensations are significantly stronger than those of previous models. Furthermore, two mechanisms are declared to explain the condensations. The results may offer some clues to help design robotic systems or UAVs with directed collective behavior.
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