Enhancing convergence efficiency of self-propelled agents by diffusion concept

In recent years, the well-known Vicsek model (VM) has attracted the interest of many researchers. In this paper, we investigate a revised Vicsek model based on diffusion concept, named as diffusion Vicsek model. The proposed diffusion Vicsek model can use weights to make the agents in the cluster more dispersed without introducing additional repulsive forces. In diffusion Vicsek model, the λ is introduced to adjust the degree of dispersion. When the value of λ is larger, it is more conducive to increase the dispersion of the cluster. Especially when λ = 0, the diffusion model will become the original Vicsek model. In the simulation experiments, the original Vicsek model and the diffusion Vicsek model are compared. The results show that there is an optimal λ under different number of agents N, communication radius R and absolute velocity v 0 , which effectively improves the convergence speed of the cluster.