Morphologies of self-organizing swarms in 3D swarm chemistry

A three-dimensional version of the Swarm Chemistry model is presented. Self-organization and morphogenesis of heterogeneous swarms in the 3D model were compared to those in the original 2D version. It was observed that the resulting patterns generally had remarkable robustness against dimensionality change, while some swarms were susceptible to the change. Further experiments showed that it was often sufficient to make minimal parameter adjustments in order to recover the original topological and dynamical properties of those susceptible swarms in 3D, although the dependence on parameters varied case by case with no generic parameter mapping between 2D and 3D.