Self-Organization of General Multi-Agent Systems with Complex Interactions

This paper considers an anisotropic swarm model with an attraction/repulsion function. We study its aggregation properties and show that the swarm members aggregate and eventually form a cohesive cluster of finite size around their weighted center in a finite time. Numerical simulations demonstrate that all agents eventually enter and remain in a bounded region around the weighted center. The swarm may eventually stop moving or 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