Related papers: Optimal Control of a Collective Migration Model
This paper explores the controllability and state tracking of ensembles from the perspective of optimal transport theory. Ensembles, characterized as collections of systems evolving under the same dynamics but with varying initial…
The quest on how to collectively self-organize in order to maximize the survival chances of the members of a social group requires finding an optimal compromise between maximizing the well-being of an individual and that of the group. Here…
The flocking motion control is concerned with managing the possible conflicts between local and team objectives of multi-agent systems. The overall control process guides the agents while monitoring the flock-cohesiveness and localization.…
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…
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…
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…
The effectiveness of collective navigation of biological or artificial agents requires to accommodate for contrasting requirements, such as staying in a group while avoiding close encounters and at the same time limiting the energy…
We consider the optimal control problem of steering an agent population to a desired distribution over an infinite horizon. This is an optimal transport problem over a dynamical system, which is challenging due to its high computational…
This paper investigates the social optimum for a dynamic linear quadratic collective choice problem where a group of agents choose among multiple alternatives or destinations. The agents' common objective is to minimize the average cost of…
We discuss the control of a human crowd whose dynamics is governed by a regularized version of Hughes' model, cf. Hughes: A continuum theory for the flow of pedestrians. Transportation research part B: methodological, 36 (2002). We assume…
The evolution of leadership in migratory populations depends not only on costs and benefits of leadership investments but also on the opportunities for individuals to rely on cues from others through social interactions. We derive an…
Efficient navigation in swarms often relies on the emergence of decentralized approaches that minimize traversal time or energy. Stigmergy, where agents modify a shared environment that then modifies their behavior, is a classic mechanism…
In this paper, we study cooperative multi-agent systems in which the target objective and the controls exercised by the agents are dependent on the choices they made at initial system time. Such systems have been investigated in several…
We present a new algorithm to simulate dynamic group behaviors for interactive multi-agent crowd simulation. Our approach is general and makes no assumption about the environment, shape, or size of the groups. We use the least effort…
Adjustable autonomy refers to entities dynamically varying their own autonomy, transferring decision-making control to other entities (typically agents transferring control to human users) in key situations. Determining whether and when…
We study a dynamical model of a population of cooperators and defectors whose actions have long-term consequences on environmental "commons" - what we term the "resource". Cooperators contribute to restoring the resource whereas defectors…
When humans and autonomous systems operate together as what we refer to as a hybrid team, we of course wish to ensure the team operates successfully and effectively. We refer to team members as agents. In our proposed framework, we address…
We present a model for controlling swarms of mobile agents via broadcast control, assumed to be detected by a random set of agents in the swarm. The agents that detect the control signal become ad-hoc leaders of the swarm. The agents are…
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…
We investigate the emergence of self-organised trails between two specific target areas in collective motion of social organisms by means of an agent-based model. We present numerical evidences that an increase in the efficiency of…