Prescribed Interactions Among Agents for Swarm Aggregation on a Circle

In this work a kinematic model for the evolution of a swarm of agents is proposed. The model benefits of an intuitive structure formed by three main terms, accounting for attraction to a common swarm target, for interactions among all the agents and for peculiar relationship among each agent and a subset of elements. The overall agents evolution is studied and analyzed showing that the swarm tends to a common goal while simultaneously ensuring a set of aggregation properties. Moreover it will be proved that the proposed kinematic model exhibits an equilibrium point on a circular shape. Numerical simulations and experimental tests using a swarm of real mobile robots have been also carried out.