Robot network and control parameters
Changing the agent count resets the path and both teams. Other parameters update live.
Standard approach
Shape deformation 0%
Neighbor response diffuses around the team. Distant agents lag behind the leader.
DSR approach
Shape deformation 0%
Delayed self reinforcement uses each agent's previous motion to carry the leader's change through the team.
Gold agent = leader. Dashed circle = undeformed shape at the team's current center. The target path reflects at the dashed arena border; both simulations use that same path.
This is an illustrative 2D pinned-ring model based on the update laws in the DSR simulation. Deformation is the RMS departure of agent positions from a translated circle, divided by its radius. It does not model material forces or collisions.