A novel individual-based alignmen/repulsion algorithm is proposed in this paper for a flock of multiple agents. With this algorithm, each individual repels its sufficiently close neighbors and aligns to the average velocity of its neighbors with moderate distances. In both mathematical analysis and numerical simulation, we prove that the algorithm guarantees an uncrowded flocking behavior with asymptotical velocity synchronization when sufficiently intensive communication exists within the agents. Moreover, we provide the conditions for collision avoidance along the whole transient procedure. The proposed flocking model has its references in natural collective behaviors like escaping panic and traffic jam motions.
11th International Conference on Control, Automation, Robotics and Vision (ICARCV 2010). Proceedings of the 11th International Conference on Control, Automation, Robotics and Vision (Singapore 7-10 December, 2010) p. 263-268