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The network paradigm is used to gain insight into the structural root causesof the resilience of consensus in dynamic collective behaviors, and to analyzethe controllability of the swarm dynamics. Here we devise the dynamic signalingnetwork which is the information transfer channel underpinning the swarmdynamics of the directed interagent connectivity based on a topologicalneighborhood of interactions. The study of the connectedness of the swarmsignaling network reveals the profound relationship between group size andnumber of interacting neighbors, which is found to be in good agreement withfield observations on flock of starlings [Ballerini et al. (2008) Proc. Natl.Acad. Sci. USA, 105: 1232]. Using a dynamical model, we generate dynamiccollective behaviors enabling us to uncover that the swarm signaling network isa homogeneous clustered small-world network, thus facilitating emergentoutcomes if connectedness is maintained. Resilience of the emergent consensusis tested by introducing exogenous environmental noise, which ultimatelystresses how deeply intertwined are the swarm dynamics in the physical andnetwork spaces. The availability of the signaling network allows us toanalytically establish for the first time the number of driver agents necessaryto fully control the swarm dynamics.

Resilience and Controllability of Dynamic Collective Behaviors