Aggregation and Pattern Formation of Multi-Agent Systems

This paper considers a type of multi-agent systems. The interactions among the individual agents are assumed to be universally repulsive and selectively attractive, so as to realize desired pattern formations in the systems by choosing appropriate coupling topologies. Specifically, it is shown that the system with symmetric couplings always displays convergent dynamics to steady-state formations. Whereas in asymmetric case the system exhibits more complex behavior, such as self-organized oscillations. It is also demonstrated numerically how to arrived at typical formations in a multi-agent system by assigning specific form of attractive coupling structures.