In this paper, an adaptive attractive/repulsive (A/R) swarming model is proposed to explore the role of self-organized formation in swarming systems. By defining the adjustable A/R range γi, which is affected by the localized steady state of agents, the standard collective crystal-like swarming formations are straightforwardly unfolded in different scale. Meanwhile, with numerical simulations and analyses, the results show that the adaptive A/R swarming model provides an effective solution to the current existing dilemma of the collective liquid-like formation with unexpected neighbor distances and the split crystal-like formation. The actual neighbor distance of the adaptive A/R model could converge to the expected neighbor distance as planned, based on the different settings of the expected neighbor distance and the A/R range. Moreover, such adjustable A/R swarming formations may find their potential applications such as the formation of self-organized multi-robots and unmanned aerial vehicles, the automatic networking of sensors, etc.
Event Detection Using Unmanned Aerial Vehicles: Ordered versus Self-organized Search
