  One of the major motifs in collective or swarm intelligence is that, even
though individuals follow simple rules, the resulting global behavior can be
complex and intelligent. In artificial swarm systems, such as swarm robots, the
goal is to use systems that are as simple and cheap as possible, deploy many of
them, and coordinate them to conduct complex tasks that each individual cannot
accomplish. Shape formation in artificial intelligence systems is usually
required for specific task-oriented performance, including 1) forming sensing
grids, 2) exploring and mapping in space, underwater, or hazardous
environments, and 3) forming a barricade for surveillance or protecting an area
or a person. This paper presents a dynamic model of an artificial swarm system
based on a virtual spring damper model and algorithms for dispersion without a
leader and line formation with an interim leader using only the distance
estimation among the neighbors.
