Related papers: Optimal View Angle in Collective Dynamics of Self-…
Navigation is an essential ability for mobile agents to be completely autonomous and able to perform complex actions. However, the problem of navigation for agents with limited (or no) perception of the world, or devoid of a fully defined…
The Agentic Service Ecosystem consists of heterogeneous autonomous agents (e.g., intelligent machines, humans, and human-machine hybrid systems) that interact through resource exchange and service co-creation. These agents, with distinct…
This article considers the problem of conflict-free distribution of point-sized agents on a circular periphery encompassing all agents. The two key elements of the proposed policy include the construction of a set of convex layers (nested…
We study the collective motion of autonomous mobile agents on a ringlike environment. The agents' dynamics is inspired by known laboratory experiments on the dynamics of locust swarms. In these experiments, locusts placed at arbitrary…
By an undirected rigid formation of mobile autonomous agents is meant a formation based on graph rigidity in which each pair of "neighboring" agents is responsible for maintaining a prescribed target distance between them. In a recent paper…
Order can spontaneously emerge from seemingly noisy interactions between biological agents, like a flock of birds changing their direction of flight in unison, without a leader or an external cue. We are interested in the generic conditions…
Understanding risk in autonomous driving requires not only perception and prediction, but also high-level reasoning about agent behavior and context. Current Vision Language Model (VLM)-based methods primarily ground agents in static images…
We propose a dynamic model for a system consisting of self-propelled agents in which the influence of an agent on another agent is weighted by geographical distance. A parameter $\alpha$ is introduced to adjust the influence: the smaller…
This article presents a distributed algorithm for a group of robotic agents with omnidirectional vision to deploy into nonconvex polygonal environments with holes. Agents begin deployment from a common point, possess no prior knowledge of…
We study a binary metric-free Vicsek model involving two species of self-propelled particles aligning with their Voronoi neighbors, focusing on a weakly nonreciprocal regime, where species $A$ aligns with both $A$ and $B$, but species $B$…
Understanding collective self-organization in active matter, such as bird flocks and fish schools, remains a grand challenge in physics. Interactions that induce alignment are essential for flocking; however, alignment alone is generally…
Collective motion in active matter is usually modelled through instantaneous local alignment, where each agent updates its heading from the current configuration of its neighbours. Many biological and engineered agents, however, possess…
One of the most striking phenomena in biological systems is the tendency for biological agents to spatially aggregate, and subsequently display further collective behaviours such as rotational motion. One prominent explanation for why…
We present a model for controlling swarms of mobile agents via broadcast control, assumed to be detected by a random set of agents in the swarm. The agents that detect the control signal become ad-hoc leaders of the swarm. The agents are…
We propose a model of collective behavior in self-propelled active agents that incorporates a perceptual decision-making process. In this framework, the decision-making dynamics is modeled using quantum formalism. The perceptual decision…
Kinematic monitoring plays a critical role in long-term rehabilitation for patients with spinal cord injury (SCI), where multi-view markerless motion capture methods have shown significant potential. However, owing to the reliance on…
This paper proposes distributed omniscient observers for both heterogeneous and homogeneous linear multi-agent systems, such that each agent can correctly estimate the states of all agents. The observer design is based on local input-output…
We consider a population of mobile agents able to make noisy observation of the environment and communicate their observation by production and comprehension of signals. Individuals try to align their movement direction with their…
In this work, we fabricated and studied two designs for omnidirectional vision sensors for swarm robotics, based on catadioptric systems consisting of a mirror with rotational symmetry, eight discrete infrared photodiodes and a single LED,…
Given a connected region in two-dimensional space where events of a certain kind occur according to a certain time-varying density, we consider the problem of setting up a network of autonomous mobile agents to detect the occurrence of…