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In this paper, a specific directed-graph framework of flock interaction and collective dynamics of flapping-wing swarm robots are presented. The flock of flapping-wing robots is suitable for long distance tasks. A visual interaction topology network of flapping-wing robots under distributed control is considered for low battery cost. The network consists of a directed topology structure to describe an information delivery mechanism of a flapping-wing robots flock equipped with visual sensors. It is assumed that bird flocks in nature have similar directed interaction topology structure. Furthermore, a collective dynamics model for bionic flapping-wing robots is raised, in which robots are Spontaneously organized into formation while avoid running into each other. In order to validate collective dynamics of flapping-wing robots under simulation environment, range-limited Delaunay division graph is utilized to fit the realistic visual interaction among swarm robots. Several numerical simulation results are provided to demonstrate the effect of the presented collective dynamics.
Tang et al. (Fri,) studied this question.