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Emergent Behaviors of Protector, Refugee, and Aggressor Swarms

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2 Author(s)
Gravagne, I.A. ; Dept. of Electr. & Comput. Eng., Baylor Univ., Waco, TX ; Marks, R.J.

Simple rules, when executed by individual agents in a large group, or swarm, can lead to complex behaviors that are often difficult or impossible to predict knowing only the rules. However, aggregate behavior is not always unpredictable-even for swarm models said to be beyond analysis. For the class of swarming algorithms examined herein, we analytically identify several possible emergent behaviors and their underlying causes: clustering, drifting, and explosion. They also analyze the likelihood of these behaviors emerging from randomly selected swarm configurations and present a few examples. The analytic results are illustrated via simulation

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Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on  (Volume:37 ,  Issue: 2 )