Synchronization-based symmetric circular formations of mobile agents and the generation of chaotic trajectories

The self-organization of multiple autonomous mobile agents is a trending topic nowadays with applications in robotics, aerospace engineering, and satellite formations. We investigate a model of particles with coupled-oscillators dynamics focusing on the particular case of agents grouping in symmetric clusters while moving in concentric circular trajectories. Our results reveal that certain regions of the parameter space are more suitable for the onset of such clusters. Additionally, we study the effects of adding and removing agents from already formed clusters, prescribe a strategy to properly switch from one formation to another, and finally introduce an approach to obtain chaotic almost-circular trajectories and symmetric clusters with non-overlapping particles.