An improved cooperative tracking model is proposed, which is based on the local information between mutually observable individuals with global object information, and this model is used for scalable social foraging swarm. In this model, the 'follower' individuals in the swarm take the center of the minimal circumcircle decided by the neighbors in the positive visual set of individual as its local object position. We study the stability properties of cooperative tracking behavior of social foraging swarm based on Lyapunov stability theory. Simulations show that the stable cooperative tracking behavior of the global social foraging swarm can be achieved easily, and beautiful scalability emerge from the proposed model for social foraging swarm.
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