Collective Behavior of Social Foraging Swarm with Disturbance

In this paper, a multi-agent system that models Social Foraging Swarm with Disturbance is proposed. The model is an extension of the model proposed by Wang et al., in which disturbance is introduced to the system. Under conditions on the size of the disturbance, it was shown that the new system was similar to the behavior of conventional models. The first similar behavior is stationarity by the swarm center. Here to obtain this result a notion of ρ-annulus will be introduced. The second similar behavior will also be presented in this paper that the agents aggregate and enter a certain ρ-annulus. The radius of the ball when the agents entering ρ-annulus will also be calculated. Numerical simulation demonstrate that the agents aggregate and enter a certain ρ-annulus around the swarm center.