Illustration of Centralized Command and Control for Flocking Behavior

Flocking is a term that describes the behavior of a group of birds (a “flock”) in flight, or the swarming behavior of insects. This paper presents detailed information about how to use the flocking techniques to control a group of embedded controlled systems ‘’Boids’’such as ground systems (robotic vehicles/ swarm robots). Each one of these systems collectively moves inside/outside of a building to reach a target. The flocking behavior is implemented on a server-based control, which processes each of the boids’ properties e.g. position, speed & target. Subsequently, the server will assign the appropriate move to a specific boid. The calculated information will be used locally to control and direct the movements/flocking for each boid in the group. A simulation technique and detailed flow chart is presented. In addition to Reynolds three original rules for flocking, two other rulestargeting obstacle avoidance are presented-. Our result shows that the obstacles’ avoiding rule was utilized to ensure that the flock didn’t collide with obstacles in each of the boids’ paths. Illustration of Centralized Command and Control for Flocking Behavior