Multi-vehicular systems show increasing promise for advances in
exploration and defense. Interactions and cooperativity
among components leads to the emergence of useful group
properties, not found in individuals.
Interacting biological systems offer a valid platform
from which to study multi-agent aggregation, swarming and
pattern formation. Fish, ants and bacteria self organize in
response to external stimuli or due to direct interactions.
Their behavior may give insight for the study of man-made
Here, we consider a non linear system of self-propelled
particles interacting via a soft-core potential,
generating flocking or localized vortex solutions. In the
case the swarming agents may rotate all in the same direction, or
a pair of co-existing clockwise and counter-clockwise vortices
may arise. We discuss the connections between the
interaction potential and its H-stable nature, and the
resulting vortex structures and their collapsed or
dispersing behavior as the number of swarmers increases.