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In highly interactive driving scenes, trajectory prediction is conditioned on information from surrounding traffic participants such as cars and pedestrians. Our main contribution is a comprehensive analysis of state-of-the-art trajectory…
Coordinated path following in multi-agent systems is a key challenge in robotics, with applications in automated logistics, surveillance, and collaborative exploration. Traditional formation control techniques often rely on…
The paper studies the problem of steering multi-dimensional opinion in a social network. Assuming the society of desire consists of stubborn and regular agents, stubborn agents are considered as leaders who specify the desired opinion…
We consider a moving target and an active pursing agent, modeled as an intelligent active Brownian particle capable of sensing the instantaneous target location and adjust its direction of motion accordingly. An analytical and simulation…
Multi robot teams composed by ground and aerial vehicles have gained attention during the last years. We present a scenario where both types of robots must monitor the same area from different view points. In this paper we propose two…
This paper addresses the problem of position- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in a $3$D workspace with obstacles. More specifically, we design a decentralized control protocol…
This paper considers a group of mobile autonomous agents moving in Euclidean space with point mass dynamics. We introduce a set of coordination control laws that enable the group to generate the desired stable flocking motion. The control…
Autonomous exploration and multi-object tracking by a team of agents have traditionally been considered as two separate, yet related, problems which are usually solved in two phases: an exploration phase then a tracking phase. The…
In this paper, we present a machine learning approach to move a group of robots in a formation. We model the problem as a multi-agent reinforcement learning problem. Our aim is to design a control policy for maintaining a desired formation…
We present a numerical method that allows a formation of communicating agents to target the boundary of a time dependent concentration by following a time dependent concentration gradient. The algorithm motivated by \cite{MB, BKM}, allows…
We are interested in the problem of multiagent systems development for risk detecting and emergency response in an uncertain and partially perceived environment. The evaluation of the current situation passes by three stages inside the…
We propose a bio-inspired, agent-based approach to describe the natural phenomenon of group chasing in both two and three dimensions. Using a set of local interaction rules we created a continuous-space and discrete-time model with time…
This Technical Note presents a simple control approach for global trajectory tracking and formation control of underactuated surface vessels equipped with only two propellers. The control approach exploits the inherent cascaded structure of…
This paper presents a position-based flocking model for interacting agents, balancing cohesion-separation and alignment to achieve stable collective motion. The model modifies a position-velocity-based approach by approximating velocity…
This work focuses on pose-following, a variant of path-following in which the goal is to steer the system's position and attitude along a path with a moving frame attached to it. Full body motion control, while accounting for the additional…
Coordination in multi-agent systems is challenging for agile robots such as unmanned aerial vehicles (UAVs), where relative agent positions frequently change due to unconstrained movement. The problem is exacerbated through the individual…
We propose a dynamical model for group formation and switching behavior in systems where each group competes for members through attraction functions that are inversely proportional to their current sizes. This attraction is modulated by…
Target following in dynamic pedestrian environments is an important task for mobile robots. However, it is challenging to keep tracking the target while avoiding collisions in crowded environments, especially with only one robot. In this…
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…
In this paper we consider the problem of controlling the dynamic behavior of a multi-robot system while interacting with the environment. In particular, we propose a general methodology that, by means of locally scaling inter-robot coupling…