Some results simulating agents in a 2D plane, with completely distributed controllers (though there is the assumption of total connectivity.  Circles around the black agents represent force fields, which tend to keep agents at a particular distance from one another.  A new, larger force field is created when an agent thinks it is correctly paired.  In addition, the coordinate system continually zooms outward to enclose all the agents, though this isn’t obvious from the blank background.

Video with force fields drawn

Video without fields, showing raw agent motion

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