Swarm composed through bounded interactions of characteristic individuals
特征个体有界交互作用构成的集群模型

We investigate the position-consensus problem of a swarm composed through bounded interactions between characteristic individuals within their attractive regions. The characteristic individuals are defined as the individuals having decisive effects on the motions of other individuals in the attractive and repulsive regions; the interactions among which are rationally assumed to be bounded as for other physical agents. Next, we consider the swarming behavior of a newly added individual under the interactions from neighboring characteristic individuals. The bounded repulsions from characteristic individuals can avoid the position-coincidence and the motion-collision for the added individual, ensuring its independence as in other real multi-agent system. Simulation results show that the stable and convergent swarming behavior is achieved as long as there is a mutual observable chain between any two individuals in the initial swarm distribution.