Accelerating consensus of self-driven swarm via adaptive speed

In recent years, the well-developed Vicsek model has attracted more and more attention. Unfortunately, in-depth research on its convergence speed is not yet completed. In this paper, we investigate some key factors governing the convergence speed of the Vicsek model with the assistance of extensive numerical simulations. A significant phenomenon surfaces that the convergence time scales obeys a power law with r2lnNr2lnN, with rr and NN being the horizon radius and the number of particles, respectively. To further accelerate the convergence procedure, we propose a kind of improved Vicsek model with self-driven particles governed by variational speeds, which can remarkably shorten the convergence time of the standard Vicsek model.