ATI: Assemble topological interaction overcomes consistency– cohesion trade‐off in bird flocking  

作　　者：Jialei Huang Bo Zhu Tianjiang Hu 

机构地区：[1]School of Aeronautics and Astronautics,Sun Yatsen University,Guangzhou,China [2]School of Artificial Intelligence,Sun Yat‐sen University,Guangzhou,China

出　　处：《IET Cyber-Systems and Robotics》2024年第2期67-80,共14页智能系统与机器人（英文）

基　　金：This research was supported by the National Natural Science Foundation of China,Grant/Award Number:61973327.

摘　　要：In nature,various animal groups like bird flocks display proficient collective navigation achieved by maintaining high consistency and cohesion simultaneously.Both metric and topological interactions have been explored to ensure high consistency among groups.The topological interactions found in bird flocks are more cohesive than metric in-teractions against external perturbations,especially the spatially balanced topological interaction(SBTI).However,it is revealed that in complex environments,pursuing cohesion via existing interactions compromises consistency.The authors introduce an innovative solution,assemble topological interaction,to address this challenge.Con-trasting with static interaction rules,the new interaction empowers individuals with self-awareness to adapt to the complex environment by switching between interactions through visual cues.Most individuals employ high-consistency k-nearest topological interaction when not facing splitting threats.In the presence of such threats,some switch to the high-cohesion SBTI to avert splitting.The assemble topological interaction thus transcends the limit of the trade-off between consistency and cohesion.In addition,by comparing groups with varying degrees of these two features,the authors demonstrate that group effects are vital for efficient navigation led by a minority of informed agents.Finally,the real-world drone-swarm experiments validate the applicability of the proposed interaction to artificial robotic collectives.

关 键 词：assemble topological interaction bio-inspired robotics collective navigation flying robots swarm intelligence 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程] TP24[自动化与计算机技术—控制科学与工程]