Related papers: Optimal View Angle in Collective Dynamics of Self-…

This paper presents a novel coverage control algorithm for multi-agent systems, where each agent has no prior knowledge of the specific region to be covered. The proposed method enables agents to autonomously detect the target area and…

Visual imitation learning enables robotic agents to acquire skills by observing expert demonstration videos. In the one-shot setting, the agent generates a policy after observing a single expert demonstration without additional fine-tuning.…

This paper focuses on multi-sensor anomaly detection for moving cognitive agents using both external and private first-person visual observations. Both observation types are used to characterize agents' motion in a given environment. The…

We consider an active visual exploration scenario, where an agent must intelligently select its camera motions to efficiently reconstruct the full environment from only a limited set of narrow field-of-view glimpses. While the agent has…

Retardation between sensation and action is an inherent biological trait. Here we study its effect in the Vicsek model, which is a paradigmatic swarm model. We find that: (i) a discrete time delay in the orientational interactions…

Collective behavior in biological systems was first captured by the Vicsek model, in which particles align their velocities in the average direction of neighbors, leading to coherent motion and showing an order-disorder transition. However,…

We propose a new method for improving zero-shot ObjectNav that aims to utilize potentially available environmental percepts for navigational assistance. Our approach takes into account that the ground agent may have limited and sometimes…

World models learn the consequences of actions in vision-based interactive systems. However, in practical scenarios such as autonomous driving, there commonly exists noncontrollable dynamics independent of the action signals, making it…

Robotic manipulation tasks often rely on static cameras for perception, which can limit flexibility, particularly in scenarios like robotic surgery and cluttered environments where mounting static cameras is impractical. Ideally, robots…

The paper treats an agent-based model with averaging dynamics to which we refer as the K-averaging model. Broadly speaking, our model can be added to the growing list of dynamics exhibiting self-organization such as the well-known…

Self-organization of a biologically motivated swarm into smaller subgroups of different velocities is found by solving a 1-dimensional adaptive-velocity swarm, in which the velocity of an agent is averaged over a finite local radius of…

We study the collective motion of self-propelled particles affected by the spatial-dependent noise based on the Vicsek rules. Only the particles inside the special region will affected by noise. The consideration of the spatial-dependent…

Autonomous systems often operate in environments where the behavior of multiple agents is coordinated by a shared global state. Reliable estimation of the global state is thus critical for successfully operating in a multi-agent setting. We…

We consider the problem of using an autonomous agent to persistently monitor a collection of dynamic targets distributed in an environment. We generalize existing work by allowing the agent's dynamics to vary throughout the environment,…

We consider a Vicsek model of self-propelled particles with bounded confidence, where each particle interacts only with neighbors that have a similar direction. Depending on parameters, the system exhibits a continuous or discontinuous…

Despite its omnipresence in robotics application, the nature of spatial knowledge and the mechanisms that underlie its emergence in autonomous agents are still poorly understood. Recent theoretical works suggest that the Euclidean structure…

This paper investigates agreement protocols over cooperative and cooperative--antagonistic multi-agent networks with coupled continuous-time nonlinear dynamics. To guarantee convergence for such systems, it is common in the literature to…

We propose a light-weight, self-supervised adaptation for a visual navigation agent to generalize to unseen environment. Given an embodied agent trained in a noiseless environment, our objective is to transfer the agent to a noisy…

The goal of the present work is to propose an agent-based model that originally combines classical Vicsek-like polarity alignments and contact forces, as implemented in the framework developed by Maury and Venel in [Maury, Venel, 2011]. The…

The Standard Vicsek Model (SVM) is a minimal nonequilibrium model of self-propelled particles that appears to capture the essential ingredients of critical flocking phenomena. In the SVM, particles tend to align with each other and form…