{'fraction_non_alphanumeric': 0.03119584055459272, 'fraction_numerical': 0.0, 'mean_word_length': 4.892857142857143, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
Illustration of Centralized Command and Control for Flocking Behavior

Flocking is a term that describes the behavior of a group of birds a "flock" in flight, or the swarming behavior of insects. This paper presents detailed information about how to use the flocking techniques to control a group of embedded controlled systems-''Boids''-such as ground systems robotic vehicles/ swarm robots. Each one of these systems collectively moves inside/outside of a building to reach a target. The flocking behavior is implemented on a server-based control, which processes each of the boids' properties e.g. position, speed & target. Subsequently, the server will assign the appropriate move to a specific boid. The calculated information will be used locally to control and direct the movements/flocking for each boid in the group. A simulation technique and detailed flow chart is presented. In addition to Reynolds three original rules for flocking, two other rules-targeting obstacle avoidance-are presented-. Our result shows that the obstacles' avoiding rule was utilized to ensure that the flock didn't collide with obstacles in each of the boids' paths.