Related papers: Formation control with binary information
We show that a bilinear control system is approximately controllable if and only if it is controllable in $\mathbb{R}^{n}\setminus\{0\}$. We approach this problem by looking at the foliation made by the orbits of the system, and by showing…
Networks provide a powerful formalism for modeling complex systems by using a model of pairwise interactions. But much of the structure within these systems involves interactions that take place among more than two nodes at once; for…
In this paper, We study the problem of learning a controllable representation for high-dimensional observations of dynamical systems. Specifically, we consider a situation where there are multiple sets of observations of dynamical systems…
We study navigation with limited information in networks and demonstrate that many real-world networks have a structure which can be described as favoring communication at short distance at the cost of constraining communication at long…
There has recently been an explosion of interest in how "higher-order" structures emerge in complex systems. This "emergent" organization has been found in a variety of natural and artificial systems, although at present the field lacks a…
Data can be collected in scientific studies via a controlled experiment or passive observation. Big data is often collected in a passive way, e.g. from social media. In studies of causation great efforts are made to guard against bias and…
This paper addresses the formation maneuver control problem of leader-follower multi-agent systems with high-order integrator dynamics. A distributed output feedback formation maneuver controller is proposed to achieve desired maneuvers so…
This work proposes a novel 2-D formation control scheme for acyclic triangulated directed graphs (a class of minimally acyclic persistent graphs) based on bipolar coordinates with (almost) global convergence to the desired shape. Prescribed…
Multi-vehicle coordinated decision making and control can improve traffic efficiency while guaranteeing driving safety. Formation control is a typical multi-vehicle coordination method in the multi-lane scenario. Among the existing…
This paper examines the structural controllability for a group of agents, called followers, connected to each other based on the consensus law under commands of multiple leaders, which are agents with superior capabilities, over a fixed…
The main problem we address in this paper is whether function determines form when a society of agents organizes itself for some purpose or whether the organizing method is more important than the functionality in determining the structure…
Several theorems and conjectures in communication complexity state or speculate that the complexity of a matrix in a given communication model is controlled by a related analytic or algebraic matrix parameter, e.g., rank, sign-rank,…
We study the spatial patterns formed by a system of interacting particles where the mobility of any individual is determined by the population crowding at two different spatial scales. In this way we model the behavior of some biological…
Multi-robot formation control enables robots to cooperate as a working group in completing complex tasks, which has been widely used in both civilian and military scenarios. Before moving to reach a given formation, each robot should choose…
Chemical gradients can be used by a particle to determine its position. This \textit{positional information} is of crucial importance, for example in developmental biology in the formation of patterns in an embryo. The central goal of this…
This paper addresses a safe planning and control problem for mobile robots operating in communication- and sensor-limited dynamic environments. In this case the robots cannot sense the objects around them and must instead rely on…
This paper proposes a novel swarm-based control algorithm for exploration and coverage of unknown environments, while maintaining a formation that permits short-range communication. The algorithm combines two elements: swarm rules for…
Correlations and other collective phenomena in a schematic model of heterogeneous binary agents (individual spin-glass samples) are considered on the complete graph and also on 2d and 3d regular lattices. The system's stochastic dynamics is…
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…
It is known that similar physical systems can reveal two quite different ways of behavior, either coarsening, which creates a uniform state or a large-scale structure, or formation of ordered or disordered patterns, which are never…