Abstract
This paper presents an analytical study of swarm motion in a quasi static environment, in which, motion of each member is being affected by interactive forces and agents. Interactive effects on each member could be attractive or repulsive due to being far from or close to other members respectively. An agent also can be attractive or repulsive. The method is based on Lyapunov analysis. The aim is to preserve the unity of swarm i.e. not losing any member through motion, while being under influence of an agent. It is also considered that field of view of swarm members is limited; which is the most important characteristic of this work.
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