Related papers: Optimal View Angle in Collective Dynamics of Self-…
Natural systems are inextricably affected by noise. Within recent decades, the manner in which noise affects the collective behavior of self-organized systems, specifically, has garnered considerable interest from researchers and developers…
Navigating unsignalized intersections in urban environments poses a complex challenge for self-driving vehicles, where issues such as view obstructions, unpredictable pedestrian crossings, and diverse traffic participants demand a great…
We train embodied agents to play Visual Hide and Seek where a prey must navigate in a simulated environment in order to avoid capture from a predator. We place a variety of obstacles in the environment for the prey to hide behind, and we…
Populations of agents often exhibit surprising collective behavior emerging from simple local interactions. The common belief is that the agents must posses a certain level of cognitive abilities for such an emerging collective behavior to…
We consider the problem of reconstructing the state of a network of nonlinear dynamical systems in the presence of directed higher-order interactions. Grounded on analytical convergence results, we propose an algorithmic observer design…
Navigation in an unknown environment consists of multiple separable subtasks, such as collecting information about the surroundings and navigating to the current goal. In the case of pure visual navigation, all these subtasks need to…
We consider the problem of controlling the group behavior of a large number of dynamic systems that are constantly interacting with each other. These systems are assumed to have identical dynamics (e.g., birds flock, robot swarm) and their…
We present a novel aligning active matter model by extending the nematic alignment rule in self-propelled rods to tunable alignment angles, as represented by collision of cone-shaped particles. Non-vanishing alignment angles introduce…
The objective in this article is to develop a control strategy for coverage purposes of a convex region by a fleet of Mobile Aerial Agents (MAAs). Each MAA is equipped with a downward facing camera that senses a convex portion of the area…
We derive a set of minimal yet complete nonlinear field equations describing the collective properties of self-propelled rods from a simple microscopic starting point, the Vicsek model with nematic alignment. Analysis of their linear and…
The collective motion of self-driven agents is a phenomenon of great interest in interacting particle systems. In this paper, we develop and analyze a model of agent motion in one dimension with periodic boundaries using a stochastic…
Autonomous underwater vehicles (AUVs) are increasingly used to survey coral reefs, yet efficiently locating specific coral species of interest remains difficult: target species are often sparsely distributed across the reef, and an AUV with…
Consider a group of autonomous mobile computational entities called robots. The robots move in the Euclidean plane and operate according to synchronous $Look$-$Compute$-$Move$ cycles. The computational capabilities of the robots under the…
Predicting the trajectories of surrounding agents is an essential ability for autonomous vehicles navigating through complex traffic scenes. The future trajectories of agents can be inferred using two important cues: the locations and past…
Collaborative perception has recently gained significant attention in autonomous driving, improving perception quality by enabling the exchange of additional information among vehicles. However, deploying collaborative perception systems…
In this paper we study a novel Fokker-Planck-type model that is designed to mimic manufacturing processes through the dynamics characterizing a large set of agents. In particular, we describe a many-agent system interacting with a target…
In this work, we introduce panoramic panoptic segmentation as the most holistic scene understanding both in terms of field of view and image level understanding for standard camera based input. A complete surrounding understanding provides…
In this comment we show that the transition to collective motion in Vicsek-like systems with angular noise remain discontinuous for large velocity values. Thus, the networks studied by Aldana {\et al.} [Phys. Rev. Lett. {\bf 98}, 095702…
Multi-agent systems exhibit complex behaviors that emanate from the interactions of multiple agents in a shared environment. In this work, we are interested in controlling one agent in a multi-agent system and successfully learn to interact…
A new class of nonparaxial accelerating optical waves is introduced. These are beams with a Bessel-like profile that are capable of shifting laterally along fairly arbitrary trajectories as the wave propagates in free space. The concept…