Emergence of collective behavior in a system of autonomous agents

We study the properties of emergent collective behavior in a system of inte racting autonomous agents, The system evolves in time according to two rule s of communication, one from interactions between agents and another one fr om interactions of the agents with an additional agent which evolves in tim e in a periodic and stable manner, The application of these two rules is de cided by a prescribed probability distribution. We analyze the emergence an d the efficiency (coordination) with which collective patterns are construc ted in time as a function of the parameters of the system.