A new flocking model through body attitude coordination

TL;DR

This paper introduces a novel multi-agent flocking model where agents coordinate their body attitudes represented by rotation matrices, deriving from individual, kinetic, and macroscopic perspectives.

Contribution

It presents a new flocking model incorporating body attitude coordination using $SO(3)$ matrices, with derived kinetic and macroscopic equations.

Findings

Model successfully describes coordinated body attitudes in multi-agent systems

Derived equations enable analysis of collective behavior

Framework can be applied to biological or robotic systems

Abstract

We present a new model for multi-agent dynamics where each agent is described by its position and body attitude: agents travel at a constant speed in a given direction and their body can rotate around it adopting different configurations. In this manner, the body attitude is described by three orthonormal axes giving an element in $SO(3)$ (rotation matrix). Agents try to coordinate their body attitudes with the ones of their neighbours. In the present paper, we give the Individual Based Model (particle model) for this dynamics and derive its corresponding kinetic and macroscopic equations.