Wk 7 Swarm Intelligence Flocking Behaviours

Question 1

Flocking:

Answer 1

coordinated collective Movement

Question 2

multi-agent movements that look like flocking, but they are not:

Answer 2

• Synchronized Path Following
• Leader-Follower Dynamics
• Target Pursuit:
• Collective Movement with Fixed Programs
• Obstacle Avoidance

Question 3

Synchronized Path Following

Answer 3

Agents which begin to travel along some constrained path or towards some fixed point at the same time

Question 4

Leader-Follower Dynamics

Answer 4

Agents move in a strict positional relationship to a designated leader agent.

Question 5

Target Pursuit:

Answer 5

Agents move with or towards a moving target.
Collective Movement with

Question 6

Fixed Programs:

Answer 6

Agents begin from the same location and follow predetermined movement programs.

Question 7

Obstacle Avoidance:

Answer 7

Agents perform obstacle avoidance within a defined region, which can be fixed or moving.

Question 8

Characteristics of Flocking

Answer 8

• Rapid directed movement of the whole flock
• Reactivity to predators (flash expansion, fountain effect)
• Reactivity to obstacles
• No collisions between flock members
• Coalescing and splitting of flocks
• Tolerant of movement within the flock, loss or gain of flock members
• No dedicated leader

Question 9

Flocking Mechanisms

Answer 9

• Balance between: attraction (aggregation) and repulsion (segregation)
• Self-organized coordination based on neighbour mimetism overlapped with environmental template guidance

Question 10

Benefits of Flocking

Answer 10

• Energy Saving
• confuses predators
• speed

Question 11

Boids’ Sensory System

Answer 11

• distributed and local idelised system used to animate, mimic flocks

Question 12

characteristics:

Answer 12

• Local, omni-directional sensory system
• detect position and bearing of ALL
  teammates within a certain radius(no occlusion)
• Can perfectly identify all the teammates within the range of detection
  -Immediate response
• Homogeneous system (all boids have exactly the same sensory system)
• No noise in the range and bearing measurement

Question 13

Reynolds’ Rules for Flocking

Answer 13

1.Separation
2. Alignment/Velocity Matching
3. Cohesion

Question 14

Reynolds’ Rules of flocking 1- Separation:

Answer 14

steer to avoid crowding local flockmates

Question 15

Reynolds’ Rules of flocking 2 - Alignment/Velocity Matching:

Answer 15

steer towards the average heading
of local flockmates & attempt to match velocity

Question 16

Emergence

Answer 16

Set of behaviours not possible or highly unlikely by a single individual put possible as a swarm