Field of safe travel in swarm

Animals in a group have been considered to have a field or zone to avoid a collision among individuals. The repulsive zone was formalized as a symmetry zone, i.e., a circle in the theories of collective behavior. The present study challenged the theories, since animals would avoid the collision in anticipation that cannot be derived from the symmetry interaction. This study investigated a discrete model consisting of velocity-based “oval” repulsive and long-range attractive zones. This model exhibited highly coherent behavior without explicit alignment force due to asymmetric interaction upon the oval potential. The results would be contributed to future researches in collective behavior and robotics.