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## WHAT IS IT?

Continuous gathering with limited visibility simulator. Each agent makes sure it can move in a direction in which it would not loos non o its neighbors.

Apparently, if the visibility graph is connected, this simple protocol is enough for gathering the agents to a cohesive behavior - the agents get and remain close together.

## HOW IT WORKS

All agents are identical, sharing the same parameters: big and small radii values, constant reference speed, and visibility sector.

Agent i moves at a constant velocity along the bisector of its most distance neighbors, if all neighbors are included in a sector angle smaller then 180.
## HOW TO USE IT

Select the number of agents, visibility range and agents' speed..

Press **Setup** to initialize the model
Press **Edit Display** to interactively edit the model
Press **Go!** to set the model into action
.

## CREDITS AND REFERENCES
Barel, Ariel, Rotem Manor, and Alfred M. Bruckstein. "Come together: Multi-agent geometric consensus (gathering, rendezvous, clustering, aggregation)." [arXiv preprint arXiv:1902.01455](https://arxiv.org/abs/1902.01455) (2019).

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