Speed-Weighted Adaptive Flocking for Sailing Swarms under Dynamic Environmental Forcing

Abstract

Collective behavior models, such as aggregation and flocking, usually assume self-propelled robots that can directly execute their desired speed and direction of motion without fundamental constraints. However, autonomous sailing robots violate this assumption. Their motion is shaped by wind-dependent propulsion, restricted headings, and spatially varying wind conditions. In particular, maneuverability is coupled to wind speed: in weak wind, sailboats may turn only slowly or not at all, whereas stronger wind enables faster turns. This introduces transient heterogeneity in speed and maneuverability across the flock. We focus on this fast-slow coordination problem in sailing robot flocks. To study this problem, we introduce SailSwarmSwIM, a reduced-order simulator for autonomous sailing robot swarms that captures wind-dependent speed and maneuverability, no-go zones, tacking behavior, and steady or gusty wind fields. To design our novel flocking technique, we start from the Couzin model and introduce a speed-weighted social interaction rule that accounts for each robot's transient motion constraints. A key result is that increasing the social influence of slower robots improves polarization and reduces close encounters. This effect arises from a balance between attraction to fast neighbors, which helps maintain movement, and cohesion around slow neighbors, which prevents the flock from fragmenting. Together, our simulator, SailSwarmSwIM, and the speed-weighted interaction rule provide a modeling framework for studying adaptive collective behavior in robotic fleets whose motion capabilities are continuously shaped by wind.