Problems in swarm dynamics and coordinated control
群体动力学与协调控制研究中的若干问题

Swarming behavior is ubiquitous in nature and society. It is of both theoretical and practical importance to investigate the underlying principles and mechanisms of coordination and cooperation emerging in swarms. This paper discusses some basic issues in swarm dynamics and coordinated control from the perspective of systems and control. Specifically, we review some typical swarm models proposed in the literature, and discuss the roles and effects of connection topology on swarm dynamics, as well as the effects of variable topologies, communication delays, and exogenous influences, etc. We also give some numerical simulation results to demonstrate the complex aggregation-oscillation behavior of swarms in the cases of asymmetric coupling and delayed communication.