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16)where I is the identity matrix of appropriate dimension, while Cd

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16)where I is the identity matrix of appropriate dimension, while Cd, Cv and Cw are diagonal matrices weighting the social and external contributions. The system matrix in Eq. (16) has one zero eigenvalue as a consequence of the fact that just the relative distances between the agents are fixed but not the positions in absolute terms. This is proved in the Supplementary Information S6. The stabili

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