A study on a collective behavior of interacting simple robots

Many livings form groups that we consider as collective systems. Their collective behaviors are good model for the development of useful distributed systems. In this paper, We discussed the group of motile elements that is described by simple model. The dynamics of each element is described by simple kinematics, but the group shows various types of motions. In addition, we found out the formation of the group changes by modifying rc which is an optimum distance between each element. This modification shows us to observe close-packed structure, face-centered lattice, sim pie lattice and double file.