Causal Entropy, Control and Leadership Dynamics

Abstract

Collective motion in animal groups provide examples of emergent, decentralised coordination. Here, we examine a bottom-up model of collective behavior based on Future State Maximisation (FSM). In this model agents seek to maximise the diversity of their future visual states over a finite time horizon. We further assume that a subset of agents have a directional bias, e.g. towards different destinations. We observe swarm fragmentation on increasing (i) the strength of these preferences, or (ii) the difference in preferred directions, or (iii) the number of biased agents. Depending on these factors, biased agents can leave the swarm alone, leaving behind all other agents, or they can entrain some fraction of the group to leave with them. We further study the role of a classical nearest-neighbor alignment term on cohesion. Notably, we identify the existence of an finite, optimal coupling strength that suppresses fragmentation and maximises the flock cohesion. Our results demonstrate that FSM can be successfully combined with classical flocking rules, offering a flexible framework for modeling intelligent collective systems.