Related papers: Consensus of self-driven agents with avoidance of …
This paper presents a distributed adaptive control strategy for multi-agent systems with heterogeneous dynamics and collision avoidance. We propose an adaptive control strategy designed to ensure leader-following formation consensus while…
We present a fully distributed collision avoidance algorithm based on convex optimization for a team of mobile robots. This method addresses the practical case in which agents sense each other via measurements from noisy on-board sensors…
We investigate a Cucker-Smale-type flocking model for multi-agent systems that move with constant speed. The model incorporates both kinematic observables and internal energy (temperatures) in the agents' interactions. Traditionally,…
We investigate the emergence of cohesive flocking in open, boundless space using a multi-agent reinforcement learning framework. Agents integrate positional and orientational information from their closest topological neighbours and learn…
This paper presents a three dimensional collision avoidance approach for aerial vehicles inspired by coordinated behaviors in biological groups. The proposed strategy aims to enable a group of vehicles to converge to a common destination…
In resent years, Vicsek model has attracted more and more attention and been well developed. However, the in-depth analysis on the convergence time are scarce thus far. In this paper, we study some certain factors that mainly govern the…
In this paper, a distributed velocity-constrained consensus problem is studied for discrete-time multi-agent systems, where each agent's velocity is constrained to lie in a nonconvex set. A distributed constrained control algorithm is…
Background Road collisions and casualties pose a serious threat to commuters around the globe. Autonomous Vehicles (AVs) aim to make the use of technology to reduce the road accidents. However, the most of research work in the context of…
The effectiveness of collective navigation of biological or artificial agents requires to accommodate for contrasting requirements, such as staying in a group while avoiding close encounters and at the same time limiting the energy…
This paper proposes a consensus controller for multi-agent systems that can guarantee the agents' safety. The controller, built with the idea of output prediction and the Newton-Raphson method, achieves consensus for a class of…
This paper introduces a crowd modeling and motion control approach that employs diffusion adaptation within an adaptive network. In the network, nodes collaboratively address specific estimation problems while simultaneously moving as…
Collective behaviors such as swarming and flocking emerge from simple, decentralized interactions in biological systems. Existing models, such as Vicsek and Cucker-Smale, lack collision avoidance, whereas the Olfati-Saber model imposes…
Deploying a safe mobile robot policy in scenarios with human pedestrians is challenging due to their unpredictable movements. Current Reinforcement Learning-based motion planners rely on a single policy to simulate pedestrian movements and…
Collective migration of animals in a cohesive group is rendered possible by a strategic distribution of tasks among members: some track the travel route, which is time and energy-consuming, while the others follow the group by interacting…
Simulation models of pedestrian dynamics have become an invaluable tool for evacuation planning. Typically crowds are assumed to stream unidirectionally towards a safe area. Simulated agents avoid collisions through mechanisms that belong…
We present a new algorithm to simulate dynamic group behaviors for interactive multi-agent crowd simulation. Our approach is general and makes no assumption about the environment, shape, or size of the groups. We use the least effort…
This paper considers a group of mobile autonomous agents moving in Euclidean space with point mass dynamics. We introduce a set of coordination control laws that enable the group to generate the desired stable flocking motion. The control…
Decentralized collision avoidance remains challenging, particularly when agents do not communicate any information related to planned trajectories. Most existing approaches either rely on conservative coordination mechanisms or provide…
Vehicular mobile crowd sensing is a fast-emerging paradigm to collect data about the environment by mounting sensors on vehicles such as taxis. An important problem in vehicular crowd sensing is to design payment mechanisms to incentivize…
In this paper, a novel and innovative methodology for feasible motion planning in the multi-agent system is developed. On the basis of velocity obstacles characteristics, the chance constraints are formulated in the receding horizon control…