🤖 AI Summary
This study addresses the challenge of modeling rapid, stable self-organized aggregation of high-density pedestrian crowds on urban road networks. Conventional flocking models (e.g., Boids) fail to accommodate the non-Euclidean, directed, and irregular topological structure of real-world road networks. To overcome this limitation, we propose the first biologically inspired flocking framework adapted to actual road infrastructure—a distributed multi-agent decision-making architecture grounded in local navigation-aware graph convolution. The framework jointly integrates road network embedding, graph neural networks (GNNs), and distributed reinforcement learning. Evaluated on 12 real-world urban road network datasets, our method achieves ≥92% path consistency and triples aggregation speed compared to baseline approaches—including extended Boids models and A*-based group path planning—while ensuring scalability and topological adaptability. This work establishes a novel, topology-aware paradigm for dynamic crowd coordination and emergency evacuation simulation.