Autonomous UAV Algorithm Handbook

Appearance

Reynolds Flocking ​

Problem Statement ​

Reynolds flocking produces coordinated multi-agent motion from local interaction rules, without centralized planning.

Model and Formulation ​

For agent i, acceleration is the weighted sum:

$$ a_i = w_s a_i^{sep} + w_a a_i^{align} + w_c a_i^{coh} $$

where separation avoids collisions, alignment matches heading, and cohesion preserves group compactness.

Practical Notes ​

  • Perception radius and separation radius define local interaction topology.
  • Rule weights set global behavior: tight flocking, milling, or loose travel.
  • Speed clipping is essential to prevent unstable divergence.

Implementation and Execution ​

bash
python -m uav_sim.simulations.swarm.reynolds_flocking

Evidence ​

Reynolds Flocking

References ​