A method of controlling movement of an agent operating within an autonomous system includes determining, using a processing device associated with the agent, at least one point of interest (POI) within an area of operation by the autonomous system; determining, from the at least one POI, a POI of highest attraction for the agent and calculating an attraction force for the agent, based on the location of the POI of highest attraction; determining proximity of the agent to one or more additional agents operating within the autonomous system, and calculating a repulsion force for the agent so as to maintain a minimum separating distance between the agent and the one or more additional agents; calculating a resultant force for the agent based on the attraction force and the repulsion force; and changing a direction of the agent based on the resultant force.