Abstract
AbstractIn this paper, we develop a novel self-propelled particle model to describe the emergent behavior of a group of mobile agents. All agents coordinate with their neighbors through local social forces accounting for velocity alignment and collision avoidance. We allow the interaction ranges to adapt to the group density. This range adaption results in topology changes as well as discontinuities in those social forces. We apply differential inclusion technique to analyze the convergence properties of the proposed control method. The analytical and numerical results show that all the agents eventually align their velocities and avoid collisions with each other no matter how fast the topology changes.
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