These activities are driven by the self-regulation functionF(xi) ≡ (F1(xi),…, Fd(xi))T (designed to describe the dynamicsof all the nodes in isolation) and the pairwise function G(xi(t),xj(t)) ≡ (G1(xi, xj),…, Gd(xi, xj))T (which captures the dynamic mechanismsof interaction between the nodes).