Torus bifurcations of large-scale swarms having range dependent communication delay

24 Apr 2020  ·  Schwartz Ira B, Edwards Victoria, Kamimoto Sayomi, Kasraie Klimka, Triandaf Ioana, Hsieh M. Ani, Hindes Jason ·

Dynamical emergent patterns of swarms are now fairly well established in nature, and include flocking and rotational states. Recently, there has been great interest in engineering and physics to create artificial self-propelled agents that communicate over a network and operate with simple rules, with the goal of creating emergent self-organizing swarm patterns. In this paper, we show that when communicating networks have range dependent delays, rotational states which are typically periodic, undergo a bifurcation and create swarm dynamics on a torus. The observed bifurcation yields additional frequencies into the dynamics, which may lead to quasi-periodic behavior of the swarm.

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Adaptation and Self-Organizing Systems