Visual perception and density-sensitive interaction in active agent system

This study extends the self-propelled particle (SPP) model by incorporating a limited vision cone and local density sensing. The results reveal that clusters can simultaneously exhibit velocity polarization and spatial cohesion within specific ranges of vision angle and density threshold. The dependence of the dynamical features, including the order parameter and density variation, on the threshold and visual cone is investigated. Furthermore, a critical threshold is identified, which governs the transition between ordered and disordered states and is closely linked to density fluctuations and noise intensity. The clustering results show that the model is explained by the chasing mechanism responsible for cluster formation, density, and shape. These results may stimulate practical applications in swarm maneuvering.