  We present an active control scheme of a kinetic model of swarming. It has
been shown previously that the global control scheme for the model, presented
in \cite{JK04}, gives rise to spontaneous collective organization of agents
into a unified coherent swarm, via a long-range attractive and short-range
repulsive potential. We extend these results by presenting control laws whereby
a single swarm is broken into independently functioning subswarm clusters. The
transition between one coordinated swarm and multiple clustered subswarms is
managed simply with a homotopy parameter. Additionally, we present as an
alternate formulation, a local control law for the same model, which implements
dynamic barrier avoidance behavior, and in which swarm coherence emerges
spontaneously.
