Self-Organized Fission-Fusion Control Algorithm for Flocking Systems Based on Intermittent Selective Interaction

Figure 2

Trajectory of individuals in the fusion-fission process. The blue hollow circles denote the initial positions of individuals, black solid circles demonstrate their final positions, green lines represent the trajectories of individuals, red solid circles are the position of two targets, and gray solid circles are the individuals that firstly sense the targets.

(a)

(b)

(c)

(d)