Geodesic
A model of the joint motion of agents with a three-level hierarchy based on a cellular automaton
Žurnal vyčislitelʹnoj matematiki i matematičeskoj fiziki, Tome 57 (2017) no. 2, pp. 339-349
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The collective interaction of agents for jointly overcoming (negotiating) obstacles is simulated. The simulation uses a cellular automaton. The automaton's cells are filled with agents and obstacles of various complexity. The agents' task is to negotiate the obstacles while moving to a prescribed target point. Each agent is assigned to one of three levels, which specifies a hierarchy of subordination between the agents. The complexity of an obstacle is determined by the amount of time needed to overcome it. The proposed model is based on the probabilities of going from one cell to another. 
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A. V. Kuznetsov. A model of the joint motion of agents with a three-level hierarchy based on a cellular automaton. Žurnal vyčislitelʹnoj matematiki i matematičeskoj fiziki, Tome 57 (2017) no. 2, pp. 339-349. http://geodesic.mathdoc.fr/item/ZVMMF_2017_57_2_a9/

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