Influence of Sensorial Delay on Clustering and Swarming preprint in arXiv

Influence of Sensorial Delay on Clustering and Swarming

Influence of Sensorial Delay on Clustering and Swarming
Rafal Piwowarczyk, Martin Selin, Thomas Ihle & Giovanni Volpe
arXiv:  1803.06026

We show that sensorial delay alters the collective motion of self-propelling agents with aligning interactions: In a two-dimensional Vicsek model, short delays enhance the emergence of clusters and swarms, while long or negative delays prevent their formation. In order to quantify this phenomenon, we introduce a global clustering parameter based on the Voronoi tessellation, which permits us to efficiently measure the formation of clusters. Thanks to its simplicity, sensorial delay might already play a role in the organization of living organisms and can provide a powerful tool to engineer and dynamically tune the behavior of large ensembles of autonomous robots.