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Nonreciprocal active matter systems typically feature an asymmetric role among interacting agents, such as a pursuer-evader relationship. We propose a multi-species nonreciprocal active matter model that is invariant under permutations of…
In this paper, we consider a multi-agent system consisting of mobile agents with second-order dynamics. The communication network is determined by the so-called topological interaction rule: agents interact with a fixed number of their…
Active agents are capable of exerting nonreciprocal forces upon one another. For instance, one agent, say $A$, may attract another agent $B$ while $B$ repels $A$. These antagonistic nonreciprocal interactions have been extensively studied…
Here we consider the communications tactics appropriate for a group of agents that need to "swarm" together in a highly adversarial environment. Specfically, whilst they need to cooperate by exchanging information with each other about…
We investigate the emergence of periodic behavior in opinion dynamics and its underlying geometry. For this, we use a bounded-confidence model with contrarian agents in a convolution social network. This means that agents adapt their…
This work introduces a distributed formation control strategy for multi-agent systems based solely on rotation symmetry constraints. We propose a potential function that enforces inter-agent \textbf{rotational} symmetries, whose gradient…
By starting with the assumption that motion is fundamentally a decision making problem, we use the world-line concept from Special Relativity as the inspiration for a novel multi-agent path planning method. We have identified a particular…
This paper studies a class of consensus dynamics where the interactions between agents are affected by a time-varying unknown scaling factor. This situation is encountered in the control of robotic fleets over a wireless network or in…
This article studies clogging phenomena using a velocity-based model for pedestrian dynamics. First, a method to identify prolonged clogs in simulations was introduced. Then bottleneck simulations were implemented with different initial and…
We consider stochastic model predictive control of a multi-agent systems with constraints on the probabilities of inter-agent collisions. We first study a sample-based approximation of the collision probabilities and use this approximation…
We address density control problems for large-scale multi-agent systems in leader-follower settings, where a group of controllable leaders must steer a population of followers toward a desired spatial distribution. Unlike prior work, we…
Flocking is ubiquitous in nature and emerges due to short- or long-range alignment interactions among self-propelled agents. Two unfriendly species that antialign or even interact nonreciprocally show more complex collective phenomena,…
In this paper, we analyze the behavior of a multi-agent system driven by the interactions of agents within a competitive environment. To achieve this, we describe the transition probabilities that underlie the system's stochastic nature. We…
We explore relations between cyclic sequences determined by a quadratic difference relation, cyclotomic polynomials, Eulerian digraphs and walks in the plane. These walks correspond to closed paths for which at each step one must turn…
We introduce a stochastic agent-based model for the flocking dynamics of self-propelled particles that exhibit velocity-alignment interactions with neighbours within their field of view. The stochasticity in the dynamics of the model arises…
Multi-agent systems can be successfully described by kinetic models, which allow one to explore the large scale aggregate trends resulting from elementary microscopic interactions. The latter may be formalised as collision-like rules, in…
Diverse collective dynamics emerge in dynamical systems interacting on top of complex network architectures. Along this line of research, temporal network has come out to be one of the most promising network platforms to investigate.…
In nature self-organized systems as flock of birds, school of fishes or herd of sheeps have to deal with the presence of external agents such as predators or leaders which modify their internal dynamic. Such situations take into account a…
The emergence of macroscopic order and patterns is a central paradigm in systems of (self-)propelled agents, and a key component in the structuring of many biological systems.The relationships between the ordering process and the underlying…
The purpose of this review paper is to present some recent results on the modeling and control of large systems of agents. We focus on particular applications where the agents are capable of independent actions instead of simply reacting to…