A new flocking model through body attitude coordination

Abstract

We present a new model for multi-agent dynamics where each agent is described by its position and body attitude: agents travel at a constant speed in a given direction and their body can rotate around it adopting di erent con gurations. In this manner, the body attitude is described by three orthonormal axes giving an element in SO (3) (rotation matrix). Agents try to coordinate their body attitudes with the ones of their neighbours. In the present paper, we give the Individual Based Model (particle model) for this dynamics and derive its corresponding kinetic and macroscopic equations.