In this note, we specify an "individual-based" continuous-time model for swarm aggregation in n-dimensional space and study its stability properties. We show that the individuals (autonomous agents or biological creatures) will form a cohesive swarm in a finite time. Moreover, we obtain an explicit bound on the swarm size, which depends only on the parameters of the swarm model.
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Gazi et al. (2003) studied this question.
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