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. 2014 Nov 6;11(100):20140719. doi: 10.1098/rsif.2014.0719

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© 2014 The Authors. Published by the Royal Society under the terms of the Creative Commons Attribution License http://creativecommons.org/licenses/by/4.0/, which permits unrestricted use, provided the original author and source are credited.

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Figure 6. — Performance of the local shepherd as a function of number of agents (N) from 1 to 200 over 100 simulations. (a) The minimum time to completion as a function of number of agents. (b) The proportion of success. (c) The average proportion of agents collected as a function of number of agents. The number of nearest neighbours was n = 20 and the other parameters as listed in table 1 except L = 300, t_max = 40 000, r_a = 3 and h = 0.3. (Online version in colour.)