Collective motions of heterogeneous swarms
  The emerging collective motions of swarms of interacting agents are a subject of great interest in application areas ranging from biology to physics and robotics. In this paper, we conduct a careful analysis of the collective dynamics of a swarm of self-propelled heterogeneous, delay-coupled agents. We show the emergence of collective motion patterns and segregation of populations of agents with different dynamic properties; both of these behaviors (pattern formation and segregation) emerge naturally in our model, which is based on self-propulsion and attractive pairwise interactions between agents. We derive the bifurcation structure for emergence of different swarming behaviors in the mean field as a function of physical parameters and verify these results through simulation. 
Klementyna Szwaykowska, Luis Mier-y-Teran Romero, and Ira B. Schwartz
nlin.AO nlin.PS