Abstract
The authors extend the Gazi’s swarm model with local neighbor rules and the dynamic communication topology, and study its aggregation properties. Results of analysis show that all agents in the models aggregate and eventually form a cohesive cluster of finite size around the swarm center or the appointed point. Finally, simulations are provided to testify some of the results. Models in the paper are more applicable to the reality for the advantage that each agent only needs the partial information of the entire dynamic system when making motion decision.
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