Related papers: Multi-Agent Shape Formation and Tracking Inspired …
Despite their growing popularity, swarms of robots remain limited by the operating time of each individual. We present algorithms which allow a human to sculpt a swarm of robots into a shape that persists in space perpetually, independent…
Interacting individuals in complex systems often give rise to coherent motion exhibiting coordinated global structures. Such phenomena are ubiquitously observed in nature, from cell migration, bacterial swarms, animal and insect groups, and…
Starting from recent experimental observations of starlings and jackdaws, we propose a minimal agent-based mathematical model for bird flocks based on a system of second-order delayed stochastic differential equations with discontinuous…
Collaborative multi-agent robotic systems where agents coordinate by modifying a shared environment often result in undesired dynamical couplings that complicate the analysis and experiments when solving a specific problem or task.…
Social dilemmas have been widely studied to explain how humans are able to cooperate in society. Considerable effort has been invested in designing artificial agents for social dilemmas that incorporate explicit agent motivations that are…
We consider the general problem of geometric task allocation, wherein a large, decentralised swarm of simple mobile agents must detect the locations of tasks in the plane and position themselves nearby. The tasks are represented by an a…
This paper describes a systems architecture for a hybrid Centralised/Swarm based multi-agent system. The issue of local goal assignment for agents is investigated through the use of a global agent which teaches the agents responses to given…
This paper presents a novel control protocol for robust distance-based formation control with prescribed performance in which agents are subjected to unknown external disturbances. Connectivity maintenance and collision avoidance among…
Swarm intelligence is the collective behavior emerging in systems with locally interacting components. Because of their self-organization capabilities, swarm-based systems show essential properties for handling real-world problems such as…
Unlike the case with identical neighboring agents whose actions are mirrored, the problem of distributed formation control design with heterogeneous sensing is not straightforward. In this paper, we consider the problem of distributed…
The vision-based relative localization can provide effective feedback for the cooperation of aerial swarm and has been widely investigated in previous works. However, the limited field of view (FOV) inherently restricts its performance. To…
This letter presents two bearing-constrained formation tracking control protocols for multiple nonholonomic agents based respectively on the bearing vectors and displacements between the agents. The desired formation pattern of the system…
For robots to be a part of our daily life, they need to be able to navigate among crowds not only safely but also in a socially compliant fashion. This is a challenging problem because humans tend to navigate by implicitly cooperating with…
This paper investigates a modification of cyclic constant bearing (CB) pursuit in a multi-agent system in which each agent pays attention to a neighbor and a beacon. The problem admits shape equilibria with collective circling about the…
Swarm foraging is a common test case application for multi-robot systems. In this paper we present a novel algorithm for controlling swarm robots with limited communication range and storage capacity to efficiently search for and retrieve…
Multi-agent foraging (MAF) involves distributing a team of agents to search an environment and extract resources from it. Nature provides several examples of highly effective foragers, where individuals within the foraging collective use…
Artificial swarm systems have been extensively studied and used in computer science, robotics, engineering and other technological fields, primarily as a platform for implementing robust distributed systems to achieve pre-defined…
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…
We review a body of recent work by the author and collaborators on controlling the spatial organisation of large agent populations across multiple scales. A central theme is the systematic bridging of microscopic agent-level dynamics and…
Collective migration of cells and animals often relies on a specialised set of "leaders", whose role is to steer a population of naive followers towards some target. We formulate a continuous model to understand the dynamics and structure…