Real Time Self-Organizing Systems for Swarm Control

Reactive, multi-agent systems are used in a variety of complex tasks where the interactions are so complex that only imprecise description can be given from the beginning of the development. However, when decision times are important, several new aspects must be taken into consideration. This paper analyzes some of the problems arising in an implementation of Real Time multiagent systems by treating the communication between agents and by proposing of a new way of leader emergence based on information and position.