J. van Ast, R. Babuska, and B. De Schutter, "Self-organizing moving agents: A survey," Tech. rep. 07-021, Delft Center for Systems and Control, Delft University of Technology, Delft, The Netherlands, 42 pp., May 2007.
The purpose of this survey is to give an overview of current state of the art in swarm control. In swarms we consider the collective behavior of relatively simple moving agents. The power of such systems is that simple behavior on the local level may result in complex behavior on the global level that is useful for specific applications. It will be investigated how the individual agents should be modeled and under what kind of control law and conditions the agents are capable of aggregating (self-organizing) to form particular structures with the purpose of sensing and controlling distributed parameters of some process.