Large-Scale Heterogeneous Self-Organizing Swarms

I came across an interesting project on manipulating large self-organizing swarms of agents by Hiroki Sayama (cheers Complexity Digest). I particularly like the aspect of the software that allows blending of configurations, allowing the user to select and discriminate parameters based on exhibited behaviors.

Hiroki provides pre-print of a paper describing the work titled "Decentralized control and interactive design methods for large-scale heterogeneous self-organizing swarms"(2007).