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.

如今，多个自主移动代理的自组织成为了一个趋势，并在机器人技术，航空工程和卫星编队中得到了应用。我们研究具有耦合振荡器动力学的粒子模型，重点关注在同心圆轨迹中移动时在对称簇中进行代理分组的特殊情况。我们的结果表明，参数空间的某些区域更适合此类聚类的开始。此外，我们研究了从已形成的团簇中添加和去除试剂的效果，规定了从一种形式正确转换为另一种形式的策略，最后介绍了一种获得具有几乎不重叠粒子的混沌近圆形轨迹和对称簇的方法。