Tree structures may be the leadership structures employed by group motions exhibiting hierarchy

Abstract

Collective behaviors leading to various fascinating movement patterns are believed to be the product of complex interplay among individuals. Previous studies have identified two types of leadership structures in pigeon flocks, i.e., hierarchical networks and reciprocal relationships. However, both of these leadership structures are predicated based on data analysis and lack substantial empirical evidence. Additionally, it is difficult to delineate a direct correspondence between leadership structures and trajectory data for pigeon flocks because birds cannot report their leadership structure. Herein, based on experiments involving volunteers, we found that tree structures may serve as the leadership structures employed by group motions exhibiting hierarchy. In the tree structure, each follower follows its only leader during collective motions, and the single top leader determines the direction of collective motions. By employing the tree structure, we introduced a model for describing collective motions. A method for obtaining the leadership structure through experimental trajectory data was proposed. This strategy was used to analyze flight trajectory data from a pigeon flock and elucidate the pigeons' leadership relationships. Our model can simulate the collective behavior of pigeon flocks, thus accurately replicating the findings of previous experimental studies. The results of this study provide insights regarding the leadership structure in pigeon flocks and have implications for artificial collective systems, e.g., autonomous formation control of multiple unmanned aerial vehicles or unmanned surface vehicles.