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Of repulsion (nr 0), the individual i only reacts with respect to them. As a result, the desired direction wi(t + ) = wr(t + ) can be quantified from equation (1) and equation (2). If there is no individual in the zone of repulsion, then the desired direction will be defined based on neighbors in zone of orientation and attraction (w i (t + ) = 1 ?(w o (t + ) + w a (t + ))). wo(t + ) and wa(t


 

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