![](bg7.png)
(a)
(b)
Figure 7: Temporal index (τ) depending on the probability
of communication failure p and a random noise ε ∈ [−δ, δ],
for S-2.2, with α
a
= 8, α
av
= 9 and α
cv
= 4. (a) communi-
cation failure with p ∈ [0, 0.9], (b) Zooming to p ∈ [0, 0.8].
Color represents τ.
tal issues as the presence of wind or terrain irregu-
larities. Results have shown that our model is quite
resilient to communication failures, and the presence
of noise, since their impact was small, specially for
noise.
Considering that agents have sensory limitations,
one can use this model as a pre-step before switching
to another model with more controls, since its princi-
ple is to group agents into a bounded region.
ACKNOWLEDGEMENTS
The authors would like to thank the Conselho Na-
cional de Desenvolvimento Cientifico e Tecnologico
- CNPq, and the Coordenacao de Aperfeicoamento
de Pessoal de Nivel Superior - CAPES, for the fi-
nancial support. EENM thanks FAPESP, processes
2011/50151-0 and 2015/50122-0, and CNPq, process
458070/2014-9, for their support.
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