1. Distribution of the number of collisions and the average closest-neighbor distance as a function of communication range and delay.
Distribution of the number of collisions and the average closest-neighbor distance as a function of communication range and delay. Every bin is the average of 20 simulations with the optimized parameter setup for a flocking speed of 32 m/s. As can be seen, safe flocking can be achieved with small enough delay (<1 s) and large enough communication range (>240 m) for this setup.
Gábor Vásárhelyi et al. Sci. Robotics 2018;3:eaat3536
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