  The work reported in this paper is motivated towards the development of a
mathematical model for swarm systems based on macroscopic primitives. A pattern
formation and transformation model is proposed. The pattern transformation
model comprises two general methods for pattern transformation, namely a
macroscopic transformation and mathematical transformation method. The problem
of transformation is formally expressed and four special cases of
transformation are considered. Simulations to confirm the feasibility of the
proposed models and transformation methods are presented. Comparison between
the two transformation methods is also reported.
