Self-referential dynamics with situated observation in collective agent systems

For realization of collective autonomous system, the self-referential coupling structure of a self-organizing process is considered to be fundamental. Since the self-referential process is closed, the description of collective behavior has to be performed through the internal viewpoint. However, there is a substantial gap in recognition between the global observer and agent embedded in a group. This paper describes how we can capture the self-referential process based on the internal description of collective behavior by way of a differential geometrical formulation