1. Visual explanation of the interaction terms.
Visual explanation of the interaction terms. The blue line depicts repulsion between agents as a function of interagent distance. The green line is the maximum allowed velocity difference between agents as a function of interagent distance. The velocity alignment term is proportional to the difference between this and the actual velocity difference between agents (red dashed line). All exemplary parameter values are in SI units.
Gábor Vásárhelyi et al. Sci. Robotics 2018;3:eaat3536
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