Swarming of multi-agents based on fuzzy controller

A large-scale multi-agents model is presented. Based on individual local observed information of the swarm, a Fuzzy controller of the attraction and repulsion function is built. Combining with the rate consensus algorithm, the swarming of the separation, cohesion and alignment is achieved. By applying the connected network from the individual local perceived information, the aggregation of the multi-agent systems can swarm following a whole consensus in the computer simulation.