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Journal of Robotics
Volume 2015 (2015), Article ID 321781, 10 pages
Research Article

Self-Organized Fission Control for Flocking System

School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, China

Received 31 October 2014; Revised 7 January 2015; Accepted 8 January 2015

Academic Editor: Yuan F. Zheng

Copyright © 2015 Mingyong Liu et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper studies the self-organized fission control problem for flocking system. Motivated by the fission behavior of biological flocks, information coupling degree (ICD) is firstly designed to represent the interaction intensity between individuals. Then, from the information transfer perspective, a “maximum-ICD” based pairwise interaction rule is proposed to realize the directional information propagation within the flock. Together with the “separation/alignment/cohesion” rules, a self-organized fission control algorithm is established that achieves the spontaneous splitting of flocking system under conflict external stimuli. Finally, numerical simulations are provided to demonstrate the effectiveness of the proposed algorithm.