Robot Swarm Flocking on a 2D Triangular Graph

Flocking behavior in swarms is phenomenal. Many small entities are interacting to form a large shape and to protect themselves from bigger entities. An examples are fish, they become a flock to be safe from predators. The way of how flocks move without getting separated, having a constant speed and not interfering each other is known as the flocking problem. In this paper, we build up a the three-zones flocking model on a two dimensional triangular graph to solve the flocking problem and evaluate the impact of changes in the separation, alignment and cohesion zone sizes on the flocking behavior.