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Swarming is a collective behavior in which a group of distinct dynamical agents begin to move as a single entity. Swarming behavior has fascinated those interested in how collective actions can emerge from the selfish behavior of individuals in the group. Early examples may be found in physics and biology. Control scientists have recently begun studying multi-agent systems for applications involving cooperative groups of Unmanned Autonomous Vehicles (UAV's). The cooperative behaviors includes moving in formation, aggregating in swarms, and exploring hazardous environments.
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