2007-@TAC-Emergent Behavior in Flocks--Felipe Cuker, Steve Smale - 副本文献.pdfVIP

852 IEEE TRANSACTIONS ON AUTOMATIC CONTROL, VOL. 52, NO. 5, MAY 2007 Emergent Behavior in Flocks Felipe Cucker and Steve Smale Abstract—We provide a model (for both continuous and discrete convenience, we will call Vicsek’s model. Its analytic behavior time) describing the evolution of a flock. Our model is parameter- was subsequently studied in [3] (but convergence could be ized by a constant capturing the rate of decay—which in our simply deduced from previous work [4], [5, Lemma 2.1]) and model is polynomial—of the influence between birds in the flock as they separate in space. Our main result shows that when 1 2 this paper, brought to our attention by Ali Jadbabaie, has been convergence of the flock to a common velocity is guaranteed, while helpful for us. Other work related to ours is [6]–[9]. We note, l for 1 2 convergence is guaranteed under some condition on however, and we will return to this in Remark 1, that conver- the initial positions and velocities of the birds only. gence results in these references rely on an assumption on the a Index Terms—Consensus reaching problem, emergence, infinite time-sequence of states. In contrast with the above, our i flocking. convergence results depend on conditions on the initial state r only. That is a main virtue of our work. On the other hand,