Related papers: Pattern-Acquisition in Finite, Heterogenous, Delay…
A robotic swarm that is required to operate for long periods in a potentially unknown environment can use both evolution and individual learning methods in order to adapt. However, the role played by the environment in influencing the…
Individual differences in learning behavior within social groups, whether in humans, other animals, or among robots, can have significant effects on collective task performance. This is because it can affect individuals' response to the…
Fish, birds, insects and robots frequently swim or fly in groups. During their 3 dimensional collective motion, these agents do not stop, they avoid collisions by strong short-range repulsion, and achieve group cohesion by weak long-range…
This paper investigates the autonomous synchronization problem for discrete-time heterogeneous multiagent systems. The synchronization problem is transformed into the asymptotic decoupling problem of stable modes in a class of discrete-time…
In this paper we consider a continuous-time anisotropic swarm model in $n$-dimensional space with an attraction/repulsion function and study its aggregation properties. It is shown that the swarm members will aggregate and eventually form a…
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…
In this paper, we extended previous studies of cooperating autonomous robots to include situations when environmental changes and changes in the number of robots in the swarm can affect the efficiency to execute tasks assigned to the swarm…
Combining different types of agents in uncrewed vehicle (UV) swarms has emerged as an approach to enhance mission resilience and operational capabilities across a wide range of applications. This study offers a systematic framework for…
Self-organization is a process where a stable pattern is formed by the cooperative behavior between parts of an initially disordered system without external control or influence. It has been introduced to multi-agent systems as an internal…
Controllability of complex networks has been the focal point of many recent studies in the field of complexity. These landmark advances shed a new light on the dynamics of natural and technological complex systems. Here, we analyze the…
Group behavior has received much attention as a test case of self-organization. There has been much written in recent years to investigate interactions within groups of agents. These agents can be animals moving in an interactive way, such…
In swarm robotics, just as for an animal swarm in Nature, one of the aims is to reach and maintain a desired configuration. One of the possibilities for the team, to reach this aim, is to see what its neighbours are doing. This approach…
Multi-swarm systems, where two or more swarms of mobile agents occupy the same region of space with different parameters and goals, occur in a variety of biological, engineering, and defense applications. Composites of multiple swarms can…
We investigate the collective motion of self-propelled agents in an environment filled with obstacles that are tethered to fixed positions via springs. The active particles are able to modify the environment by moving the obstacles through…
Swarm Intelligence (SI) is the property of a system whereby the collective behaviors of (unsophisticated) entities interacting locally with their environment cause coherent functional global patterns to emerge. SI provides a basis with wich…
Swarm dynamics is the study of collections of agents that interact with one another without central control. In natural systems, insects, birds, fish and other large mammals function in larger units to increase the overall fitness of the…
We investigate the effect of turning delays on the behaviour of groups of differential wheeled robots and show that the group-level behaviour can be described by a transport equation with a suitably incorporated delay. The results of our…
We study the collective motion of autonomous mobile agents on a ringlike environment. The agents' dynamics is inspired by known laboratory experiments on the dynamics of locust swarms. In these experiments, locusts placed at arbitrary…
To plan the trajectories of a large-scale heterogeneous swarm, sequentially or synchronously distributed methods usually become intractable due to the lack of global clock synchronization. To this end, we provide a novel asynchronous…
The task of searching for and tracking of multiple targets is a challenging one. However, most works in this area do not consider evasive targets that move faster than the agents comprising the multi-robot system. This is due to the…