Research on scalable swarming behavior integrating position aggregating and velocity synchronization

This paper propose a networked swarm model integrating aggregation of individualpsilas position, in which position topology of the networked swarm can be hold connective due to the individual aggregating force to each balance point, and synchronization of scalable swarming behavior can be implemented. The individual motion equation consist of the term approaching to the individualpsilas balance point and the term to the average angle of its neighbors, the weights of which is decided by the difference between the individualpsilas current position to its ideal balance position. Results show that synchronization of scalable swarming behavior can be implemented with this motion equation.