Alternating Spatial Patterns for Coordinated Group Motion

Dan T. Swain, Naomi Ehrich Leonard, Iain D. Couzin, Albert Kao and Rodolphe J. Sepulchre

Proceedings of the 46th IEEE Conference on Decision and Control, New Orleans, LA, December 2007.
Motivated by recent observations of fish schools, we study coordinated group motion for individuals with oscillatory speed. Neighbors that have speed oscillations with common frequency, amplitude and average but different phases, move together in alternating spatial patterns, taking turns being towards the front, sides and back of the group. We propose a model and control laws to investigate the connections between these spatial dynamics, communication when sensing is range or direction limited and convergence of coordinated group motions.

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