Adding a vision range to the alignment rule prevents walkers from splitting at intersections, and combining vision depths dn=6 and dj=2 yields gathering scores about ten times larger than the previous visionless model.
Deter- ministic rendezvous in graphs.Algorithmica, 46:69–96, 2006
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Improving flocking behaviors in street networks with vision
Adding a vision range to the alignment rule prevents walkers from splitting at intersections, and combining vision depths dn=6 and dj=2 yields gathering scores about ten times larger than the previous visionless model.