A conditional, collision-avoiding, model for swarming

We propose a model for swarming (i.e., cohesion preserving) that sharesall the good properties of the CS-model for flocking. In particular, we showfor this model that under strong interactions of the agents swarmingunconditionally occurs and that, furthermore, it does so in a collisionavoiding manner. We also show that under weak interactions the sameholds true provided the initial state of the population (their positions andvelocities) satisfies some explicit inequalities.