Flocking with obstacle avoidance: cooperation with limited communication in mobile networks

In this paper, we provide a dynamic graph theoretic framework for flocking in presence of multiple obstacles. In particular, we give formal definitions of nets and flocks as spatially induced graphs and define flocking. We introduce the notion of framenets and describe a procedure for automatic construction of an energy function for groups of agents. The task of flocking is achieved via dissipation of this energy according to a protocol that only requires the use of local information. We show that all three rules of Reynolds are hidden in this single protocol. Three types of agents called α, β, and γ agents are used to create flocking. Simulation results are provided that demonstrate flocking by 100 dynamic agents.