Abstract
The paper describes the results of creating a model implementing an approach to coordination in multi-agent systems based on use of preference hierarchies. The purpose of that research was to create a proof-of-concept illustrating applicability of the approach. As a result, we created a formal description of a model describing competition between two rival swarms that employs the approach. We implemented the model in the form of a program, and obtained results indicating that the approach provides sustainable desirable outputs across multiple runs of the model.
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