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		Hong SHI,Long WANG,Tianguang CHU.[en_title][J].Control Theory and Technology,2004,2(4):313~318.[Copy]

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HongSHI,LongWANG,TianguangCHU
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Received:June 21, 2004Revised:September 06, 2004

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Swarming behavior of multi-agent systems

Hong SHI, Long WANG, Tianguang CHU

(Intelligent Control Laboratory, Center of Systems and Control, Department of Mechanics and Engineering Science, Peking University, Beijing 100871,China)

Abstract:

We consider an anisotropic swarm model with an attraction/repulsion function and study its aggregation properties. It is shown that the swarm members will aggregate and eventually form a cohesive cluster of finite size around the swarm center in a finite time. Moreover, we extend our results to more general attraction/repulsion functions. Numerical simulations demonstrate that all agents will eventually enter into and remain in a bounded region around the swarm center which may exhibit complex spiral motion due to asymmetry of the coupling structure. The model in this paper is more general than isotropic swarms and our results provide further insight into the effect of the interaction pattern on individual motion in a swarm system.

Key words: Complexity aggregation Anisotropic swarms Biological systems Collective oscillation Multi-agent systems