Related papers: Optimal View Angle in Collective Dynamics of Self-…
A group of mobile agents, identical, anonymous, and oblivious (memoryless), having the capability to sense only the relative direction (bearing) to neighborhing agents within a finite visibility range, are shown to gather to a meeting point…
We study a system of self-propelled particles whose alignment with neighbors depends on the degree of local alignment. We show that such a local conformity interaction naturally yields a Vicsek-type model with pairwise and three-body…
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…
Self-propelled particles with alignment, displaying ordered collective motions such as swarming, can be investigated by the well-known Vicsek model. However, challenges still remain regarding the nature of the associated phase transition.…
In this paper, we present a two-species Vicsek model, that describes alignment interactions of self-propelled particles which can either move or not. The model consists in two populations with distinct Vicsek dynamics that interact only via…
A hallmark in natural systems, self-organization often stems from very simple interaction rules between individual agents. While single-species self-propelled particle (SPP) systems are well understood, the behavior of binary mixtures with…
Autonomous agents need large repertoires of skills to act reasonably on new tasks that they have not seen before. However, acquiring these skills using only a stream of high-dimensional, unstructured, and unlabeled observations is a tricky…
Collective motion of animal groups often undergoes changes due to perturbations. In a topological sense, we describe these changes as switching between low-dimensional embedding manifolds underlying a group of evolving agents. To…
Modelling biological or engineering swarms is challenging due to the inherently high dimension of the system, despite the often low-dimensional emergent dynamics. Most existing swarm modelling approaches are based on first principles and…
The cohesive collective motion (flocking, swarming) of autonomous agents is ubiquitously observed and exploited in both natural and man-made settings, thus, minimal models for its description are essential. In a model with continuous space…
A ring-kinetic theory for Vicsek-style models of self-propelled agents is derived from the exact N-particle evolution equation in phase space. The theory goes beyond mean-field and does not rely on Boltzmann's approximation of molecular…
In this report we show the emergent behavior of a group of agents, ordered from 1 to n, performing deviated, linear, cyclic pursuit, in the presence of a broadcast guidance control. Each agent senses the relative position of its target,…
This paper addresses the need for fast, lightweight, vision-guided swarming under limited computation and no explicit communication network or position source. The study develops a multi-agent optic flow sensing framework, then integrates…
Emergence and emergent behaviors are often defined as cases where changes in local interactions between agents at a lower level effectively changes what occurs in the higher level of the system (i.e., the whole swarm) and its properties.…
The emergence of order from initial disordered movement in self-propelled collective motion is an instance of nonequilibrium phase transition, which is known to be first order in the thermodynamic limit. Here, we introduce a multiplicative…
Intrinsic motivations are receiving increasing attention, i.e. behavioral incentives that are not engineered, but emerge from the interaction of an agent with its surroundings. In this work we study the emergence of behaviors driven by one…
We consider the dynamics of the system of self propelling particles modeled via the Vicsek algorithm in continuum time limit. It is shown that the alignment process for the velocities can be subdivided into two regimes: "fast" kinetic and…
We study the orientational ordering in systems of self-propelled particles with selective interactions. To introduce the selectivity we augment the standard Vicsek model with a bounded-confidence collision rule: a given particle only aligns…
Goal-oriented vision-language navigation requires robust exploration capabilities for agents to navigate to specified goals in unknown environments without step-by-step instructions. Existing methods tend to exclusively utilize…
In this work we consider the phase transition from ordered to disordered states that occur in the Vicsek model of self-propelled particles. This model was proposed to describe the emergence of collective order in swarming systems. When…