[en] We explore collective behavior in biological systems
using a cooperative control framework. In particular, we
study a hysteresis phenomenon in which a collective switches
from circular to parallel motion under slow variation of the
neighborhood size in which individuals tend to align with one
another. In the case that the neighborhood radius is less than
the circular motion radius, both circular and parallel motion
can occur. We provide Lyapunov-based analysis of bistability
of circular and parallel motion in a closed-loop system of selfpropelled
particles with coupled-oscillator dynamics.
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