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It is easy to illustrate the undesired phenomenon of the linearity rule. Suppose that there are two neighboring agents heading east and west, respectively, for the direction domain [0,2π). The average direction of these agents is π/2; however, for the direction domain (0,2π], the average direction is 3π/2. See also Appendix.
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It is easy to illustrate the undesired phenomenon of the linearity rule. Suppose that there are two neighboring agents heading east and west, respectively, for the direction domain [0,2π). The average direction of these agents is π/2; however, for the direction domain (0,2π], the average direction is 3π/2. See also Appendix.
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Such a direction assignment can be found implicitly in some prior swarm models.
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Such a direction assignment can be found implicitly in some prior swarm models.
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