A gravity-based A/R model of swarming a multi-agent network with density information

It has been reported that collective properties of self organized agents may align with their density information, which are different from previous traditional models. In this paper, to design and analyze the collective behaviors, we present a gravity-based A/R(attraction/repulsion) model which is affected by the density information. With visualizing population density distribution of aggregation process, we find that a critical value of population density can trigger rapid transition of collective formation from disorder to highly synchronous states, which is consistent with some existing phenomena in nature. Meanwhile, motifs of collective formation patterns have been analyzed to show the connectivity patterns of multi-agent system at the micro-scale.