Related papers: Predictive protocol of flocks with small-world con…
For robots to be a part of our daily life, they need to be able to navigate among crowds not only safely but also in a socially compliant fashion. This is a challenging problem because humans tend to navigate by implicitly cooperating with…
Collective motion is a fundamental phenomenon in biological swarms. As a framework for studying synchronization in motions, the Vicsek model is simple and efficient, assuming isotropic interactions with a complete field of view. Drawing…
Fuelled by a desire for greater connectivity, networked systems now pervade our society at an unprecedented level that will affect it in ways we do not yet understand. In contrast, nature has already developed efficient networks that can…
Can artificial agents benefit from human conventions? Human societies manage to successfully self-organize and resolve the tragedy of the commons in common-pool resources, in spite of the bleak prediction of non-cooperative game theory. On…
We show that sensorial delay alters the collective motion of self-propelling agents with aligning interactions: In a two-dimensional Vicsek model, short delays enhance the emergence of clusters and swarms, while long or negative delays…
Coordinated collective motion in bird flocks and fish schools inspires algorithms for cohesive swarm robotics. This paper presents a position-based flocking model that achieves persistent velocity alignment without velocity sensing. By…
We introduce a new class of models for emergent dynamics. It is based on a new communication protocol which incorporates two main features: short-range kernels which restrict the communication to local geometric balls, and anisotropic…
We present a new stochastic particle system on networks which describes the flocking behavior and pattern formation. More precisely, we consider Cucker-Smale particles with decentralized formation control and multiplicative noises on…
A one-dimensional rule-based model for flocking, that combines velocity alignment and long-range centering interactions, is presented and studied. The induced cohesion in the collective motion of the self-propelled agents leads to a unique…
Dating back to two famous experiments by the social-psychologist, Stanley Milgram, in the 1960s, the small-world phenomenon is the idea that all people are connected through a short chain of acquaintances that can be used to route messages.…
The internal behaviour of a population is an important feature to take account of when modelling their dynamics. In line with kin selection theory, many social species tend to cluster into distinct groups in order to enhance their overall…
Here we study the emergence of spontaneous leadership in large populations. In standard models of opinion dynamics, herding behavior is only obeyed at the local scale due to the interaction of single agents with their neighbors; while at…
Event-based state estimation can achieve estimation quality comparable to traditional time-triggered methods, but with a significantly lower number of samples. In networked estimation problems, this reduction in sampling instants does,…
A remarkable approach for grasping the relevant statistical features of real networks with the help of random graphs is offered by hyperbolic models, centred around the idea of placing nodes in a low-dimensional hyperbolic space, and…
From the formation of animal flocks to the emergence of coordinate motion in bacterial swarms, at all scales populations of motile organisms display coherent collective motion. This consistent behavior strongly contrasts with the difference…
How do groups of individuals achieve consensus in movement decisions? Do individuals follow their friends, the one predetermined leader, or whomever just happens to be nearby? To address these questions computationally, we formalize…
In active matter systems, self-propelled particles can self-organize to undergo collective motion, leading to persistent dynamical behavior out of equilibrium. In cells, cytoskeletal filaments and motor proteins self-organize into complex…
This paper investigates how a novel paradigm called group-control can be effectively used for motion planning for microrobot swarms in a global field. We prove that Small-Time Local Controllability (STLC) in robot positions is achievable…
In this paper, we develop a variational method to track and make predictions about a real-world system from continuous imperfect observations about this system, using an agent-based model that describes the system dynamics. By combining the…
We investigate the effect of directed short and long range connections in a simple model of small world network. Our model is such that we can determine many quantities of interest by an exact analytical method. We calculate the function…