Emergence metastable swarm behaviors using heterogeneous bias values

In a swarm, macro candidate behaviors are created by micro interactions among individuals in which each individual agent has different personal attributes for each macro behavior (bias value). In this paper, we consider how to adjust macro candidate behaviors using heterogeneous bias values in order to obtain new emergence which called metastable swarm behaviors. We examine two methods, which are the homogeneous distribution method and the heterogeneous distribution method. The generation of bias values and the prompt attainment of an agreed behavior was observed when candidates switched behavior and the emergence of an agreement phenomenon occurred at different ratios for each behavior at the swarm level.