Related papers: Optimal View Angle in Collective Dynamics of Self-…
This work concentrates on different aspects of the \textit{consensus problem}, when applying it to a swarm of flocking agents. We examine the possible influence an external agent, referred to as {\em influencing agent} has on the flock. We…
Decentralized state estimation is one of the most fundamental components of autonomous aerial swarm systems in GPS-denied areas yet it still remains a highly challenging research topic. Omni-swarm, a decentralized omnidirectional…
This study operationalizes subjective perspective in artificial agents by grounding it in a minimal, phenomenologically motivated internal structure. The perspective is implemented as a slowly evolving global latent state that modulates…
We propose a visual servoing method consisting of a detection network and a velocity trajectory planner. First, the detection network estimates the objects position and orientation in the image space. Furthermore, these are normalized and…
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…
Dense suspensions of self-propelled rod-like particles exhibit a fascinating variety of non-equilibrium phenomena. By means of computer simulations of a minimal model for rigid self-propelled colloidal rods with variable shape we explore…
This work proposes a coverage controller that enables an aerial team of distributed autonomous agents to collaboratively generate non-myopic coverage plans over a rolling finite horizon, aiming to cover specific points on the surface area…
We consider a general model of the sensorimotor loop of an agent interacting with the world. This formalises Uexk\"ull's notion of a \emph{function-circle}. Here, we assume a particular causal structure, mechanistically described in terms…
A simple model of the two dimensional collective motion of a group of mobile agents have been studied. Like birds, these agents travel in open free space where each of them interacts with the first $n$ neighbors determined by the…
This paper investigates control laws allowing mobile, autonomous agents to optimally position themselves on the line for distributed sensing in a nonuniform field. We show that a simple static control law, based only on local measurements…
This paper investigates autonomous vehicle (AV) platoon control under uncertain dynamics and intermittent communication, which remains a critical challenge in intelligent transportation systems. To address these issues, this paper proposes…
Object detection is a critical component of a self-driving system, tasked with inferring the current states of the surrounding traffic actors. While there exist a number of studies on the problem of inferring the position and shape of…
Modeling crowds has many important applications in games and computer animation. Inspired by the emergent following effect in real-life crowd scenarios, in this work, we develop a method for implicitly grouping moving agents. We achieve…
An Ising-type Vicsek model is proposed for collective motion and sudden direction change in a population of self-propelled particles. Particles move on a linear lattice with velocity +1 or -1 in the one-dimensional model. The probability of…
Autonomous inspection in hazardous environments requires AI agents that can interpret high-level goals and execute precise control. A key capability for such agents is spatial grounding, for example when a drone must center a detected…
We theoretically and numerically study the problem of optimal control of large-scale autonomous systems under explicitly adversarial conditions, including probabilistic destruction of agents during the simulation. Large-scale autonomous…
The emerging collective motions of swarms of interacting agents are a subject of great interest in application areas ranging from biology to physics and robotics. In this paper, we conduct a careful analysis of the collective dynamics of a…
In biological systems, active agents such as actomyosin and cells move and interact on curved surfaces, exhibiting diverse phenomena. These observations have motivated studies of how curvature shapes their collective behavior. Here, using a…
We show that multi-agent systems guided by vision-language models (VLMs) improve end-to-end autonomous scientific discovery. By treating plots as verifiable checkpoints, a VLM-as-a-judge evaluates figures against dynamically generated…
Autonomous driving systems face significant challenges in handling unpredictable edge-case scenarios, such as adversarial pedestrian movements, dangerous vehicle maneuvers, and sudden environmental changes. Current end-to-end driving models…