  Self-organization of a biologically motivated swarm into smaller subgroups of
different velocities is found by solving a 1-dimensional adaptive-velocity
swarm, in which the velocity of an agent is averaged over a finite local radius
of influence. Using a mean field model in phase space, we find a dependence of
this group-division phenomenon on the typical scales of the initial swarm in
the position and velocity dimensions. Comparisons are made to previous swarm
models in which the speed of an agent is either fixed or adjusted according to
the degree of direction consensus among its local neighbors. Key words:
self-organization of swarm, phase space, multi-agent system, dynamical system,
group-division.
