"Understanding" the behavior of a biological system typically means formulating a sensible model, postulating a
feedback law (incorporating biologically plausible sensory measurements), and experimentally verifying that the
model and feedback law are consistent with nature. This approach is illustrated well in the work of K. Ghose,
T. K. Horiuchi, P. S. Krishnaprasad, and C. F. Moss (and colleagues) on insect pursuit by echolocating bats.
In work of F. Zhang, E. W. Justh, and P. S. Krishnaprasad, similar modeling principles and feedback laws have
also been shown to play an important role in biologically-inspired formation-control and obstacle-avoidance laws.
Building on this earlier work, we seek to identify a bio-inspired framework for cooperative swarming, in which
the apparently complicated trajectories of individuals are explained by feedback laws which take a relatively
simple form. The objectives of such swarming (e.g., for teams of unmanned vehicles) could include rendezvous,
target capture (or destruction), and cooperative sensing.