A coordinates mixing matrix-based model for swarm formation.

In this paper, a model for a multi-agent swarm evolving in a d-dimensional space is proposed. The model consists of a balance among attraction to a given goal and attraction/repulsion among agents. One of the main characteristics of the model is the presence of an interaction matrix on agents' coordinates, defining some properties of the swarm formation. The paper focuses on the analysis of the new model highlighting the agents' steady-state behaviour both in terms of static and rotating configuration around the goal. Numerical simulations are provided to support the obtained results. [ABSTRACT FROM AUTHOR]