Self-organized Regulation of Group Size and Number in Natural and Artificial Collectives

From animal societies to self-organizing multi-agent systems, collectives adapt their group structure to tasks and environments. However, how they determine appropriate group sizes and the number of subgroups to form remains unclear. We formulate the Group Size and Number Regulation Problem (GSNRP), which asks how individuals regulate group sizes and numbers using only local information. In a first step, we establish a graph-theoretic model demonstrating that simple following behavior suffices to form group structures that match theoretical expectations, but is insufficient for active regulation of group size and number. In a second step, we operationalize individual group-size preferences in a decentralized fission-fusion mechanism based on perceived group size. Through multi-agent simulations, we validate that this mechanism achieves stable convergence across three signaling regimes, from position-only sensing to continuous group-size communication. Using tracking data from wild white-nosed coatis (mammals in the raccoon family), we calibrate individual group-size preferences and show that the controller recovers selected group-size, subgroup-count, and transition statistics. This in-sample case study demonstrates descriptive consistency with natural fission-fusion dynamics without establishing the underlying behavioral mechanism. These results suggest that natural and engineered collectives may share local principles of perception, preference, and response for regulating group structure.