Emergent behavior in flocks

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review

1110 Scopus Citations
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Original languageEnglish
Pages (from-to)852-862
Journal / PublicationIEEE Transactions on Automatic Control
Issue number5
Publication statusPublished - May 2007


We provide a model (for both continuous and discrete time) describing the evolution of a flock. Our model is parameterized by a constant β capturing the rate of decay - which in our model is polynomial - of the influence between birds in the flock as they separate in space. Our main result shows that when β <1/2 convergence of the flock to a common velocity is guaranteed, while for β ≥ 1/2 convergence is guaranteed under some condition on the initial positions and velocities of the birds only. © 2007 IEEE.

Research Area(s)

  • Consensus reaching problem, Emergence, Flocking