Abstract:In order to further enhance the movement flexibility and environmental adaptivity of flocking systems, a self-organized fission/fusion control method is proposed based on the predictive mechanism. By endowing certain “predictive intelligence” to individuals, they are able to predict the future states of neighbors via historical information. Together with the information transfer mechanism in flocks, a self-organized fission/fusion cooperative control method, which involves the predictive information, is proposed to realize the spontaneous fusion behavior and reactive fission behavior under external stimuli. Simulation results demonstrate that the proposed method can significantly enhance the foreseeability of the flocking system, which not only can gain better fusion performance, but also has more flexible and efficient fission dynamics.