Some new results on bees-mechanism-based flock control with neighbors chosen by topological distance

Recent works have demonstrated that individuals within large flocks respond to a fixed number of nearest neighbors. With this fact, the topological distance neighbors chosen method is proposed. In this paper, results obtained by this method show a better performance in the individual aggregation of a sparsely distributed flock when compared with the results obtained by metric distance method. At the same time, a new ellipse motion trail result, which may explain the hover phenomenon of bird flocks, is obtained from this method. Besides, the effect of different K on the speed to reach consensus is studied and it turns out that seven is a relatively optimal number. Results that can demonstrate the validity of this method in the incomplete information situation are also displayed in this paper.