Flocking by a Set of Autonomous Mobile Robots

摘要: Control and coordination of a set autonomous vehicles that can freely move on plane is widely studied topic in robotics. The focus this kind problem has grown recent years because the increased interest studying systems populated by many, simple units, instead few, powerful ones. In particular, these units simply observe environment using their sensors, react following rules: reaction to environmental stimuli called {\em behavior} unit. paper we study flocking problem}: mobile are required follow leader unit while keeping predetermined formation (i.e., they flock, like group soldiers). Moreover, flock do not know beforehand path will take: task just him wherever he goes, keep moving.