A class of attraction/repulsion functions for stable swarm aggregations

Gazi V., Passino K. M.

41st IEEE Conference on Decision and Control, Las Vegas, NV, United States Of America, 10 - 13 December 2002, vol.3, pp.2842-2847 identifier

  • Publication Type: Conference Paper / Full Text
  • Volume: 3
  • City: Las Vegas, NV
  • Country: United States Of America
  • Page Numbers: pp.2842-2847
  • Yıldız Technical University Affiliated: No


In this article, for an M-member "individual-based" continuous time swarm model in an n-dimensional space, we extend the results in [1] by specifying a general class of attraction/repulsion functions that can be used to achieve swarm aggregation. These functions are odd functions that have terms for attraction and repulsion acting in opposite directions in compliance with real biological swarms. We present stability analysis for several cases of the functions considered to characterize swarm cohesiveness, size, and ultimate motions while in a cohesive group.