2026-07-072026-07-07http://salesiana.dossiersoluciones.com/handle/123456789/71288This paper considers a discrete time swarm model of a group of mobile autonomous agents with a simple attraction and repulsion function for swarm aggregation and investigates its stability properties. In particular, it is proved that the individuals (members) of the swarm will aggregate and form a cohesive cluster of a finite size depending only on the parameters of the swarm model in a finite time, and the swarm system is completely stable.Optimization and ControlDynamical Systems93text