# Local Interactions for Cohesive Flexible Swarms

arXiv: https://arxiv.org/abs/1903.09259 · HTML: https://mlsanity.com/paper/1903.09259/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 21 Mar 2019.

## Built on by (most cited first, 1 of 1)

- [Sensor to Pixels: Decentralized Swarm Gathering via Image-Based Reinforcement Learning](https://mlsanity.com/paper/2601.03413/) (2026)

## Abstract (arXiv)

Distributed gathering algorithms aim to achieve complete visibility graphs via a "never lose a neighbour" policy. We suggest a method to maintain connected graph topologies, while reducing the number of effective edges in the graph to order n. This allows to achieve different goals and swarming behaviours: the system remains connected but flexible, hence can maneuver in environments that are replete with obstacles and narrow passages, etc.