Local Interactions for Cohesive Flexible Swarms
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Distributed gathering algorithms aim to achieve complete visibility graphs via a "never lose a neighbour" policy. We suggest a method to maintain connected graph topologies, while reducing the number of effective edges in the graph to order n. This allows to achieve different goals and swarming behaviours: the system remains connected but flexible, hence can maneuver in environments that are replete with obstacles and narrow passages, etc.
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