Stability analysis of improved local swarms

This paper first constructs an improved model of local swarms with a class of attraction and repulsion. Then we analyze aggregation motion of the swarm. It is shown that the individuals of the two swarms will aggregate and eventually enter into a bounded hyper-ball around the swarm center in finite time and we present the range of the finite visual radius. Aimed at removing the local trap, this paper gives the bound of parameter D. We finally analyze their motion in convergent region.