Aggregation of multiple agents with first-order dynamics and finite size body
Li Cao, Yufan Zheng, Qing Zhou, Xiaomei Zhang · 2009
In this paper we consider the aggregation problem for the agents with finite size body. Each agent is modeled as a (hyper-)sphere with first-order dynamics. A theory is established for analysis to the problem of cohesion with collision avoidance. Explosion and broken phenomenon is observed in simulation, some robust indices are proposed to investigate the phenomenon.