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We consider a population of mobile agents able to make noisy observation of the environment and communicate their observation by production and comprehension of signals. Individuals try to align their movement direction with their…
In this paper we are concerned with the simulation of crowds in built environments, where obstacles play a role in the dynamics and in the interactions among pedestrians. First of all, we review the state-of-the-art of the techniques for…
This paper studies a class of consensus dynamics where the interactions between agents are affected by a time-varying unknown scaling factor. This situation is encountered in the control of robotic fleets over a wireless network or in…
Animal swarms displaying a variety of typical flocking patterns would not exist without underlying safe, optimal and stable dynamics of the individuals. The emergence of these universal patterns can be efficiently reconstructed with…
Field theories for complex systems traditionally focus on collective behaviors emerging from simple, reciprocal pairwise interaction rules. However, many natural and artificial systems exhibit behaviors driven by microscopic decision-making…
Populations of agents often exhibit surprising collective behavior emerging from simple local interactions. The common belief is that the agents must posses a certain level of cognitive abilities for such an emerging collective behavior to…
Inspired by the works of Hughes [17, 18], we formalize and prove the well posedness of a hyperbolic--elliptic system whose solutions describe the dynamics of a moving crowd. The resulting model is here shown to be well posed and the time of…
Collective animal movement fascinates children and scientists alike. One of the most commonly given explanations for collective animal movement is improved foraging. Animals are hypothesized to gain from searching for food in groups. Here,…
Navigation strategies that intentionally incorporate contact with humans (i.e. "contact-based" social navigation) in crowded environments are largely unexplored even though collision-free social navigation is a well studied problem.…
This article introduces a simulation platform to study complex crowd behavior in social context. The agent-based model is extended based on the social force model, and it mainly describes how agents interact with each other, and also with…
We have developed an experimental setup of very simple self-propelled robots to observe collective motion emerging as a result of inelastic collisions only. A circular pool and commercial RC boats were the basis of our first setup, where we…
We study a neuro-inspired model that mimics a discussion (or information dissemination) process in a network of agents. During their interaction, agents redistribute activity and network weights, resulting in emergence of leader(s). The…
Self-organization of a biologically motivated swarm into smaller subgroups of different velocities is found by solving a 1-dimensional adaptive-velocity swarm, in which the velocity of an agent is averaged over a finite local radius of…
This paper reports a new hierarchical architecture for modeling autonomous multi-robot systems (MRSs): a nonlinear dynamical opinion process is used to model high-level group choice, and multi-objective behavior optimization is used to…
The biologically-inspired swarm paradigm is being used to design self-organizing systems of locally interacting artificial agents. A major difficulty in designing swarms with desired characteristics is understanding the causal relation…
Social robot navigation in crowded public spaces such as university campuses, restaurants, grocery stores, and hospitals, is an increasingly important area of research. One of the core strategies for achieving this goal is to understand…
Crowd models can be used for the simulation of people movement in the built environment. Crowd model outputs have been used for evaluating safety and comfort of pedestrians, inform crowd management and perform forensic investigations.…
The escalating process of urbanization has raised concerns about incidents arising from overcrowding, necessitating a deep understanding of large human crowd behavior and the development of effective crowd management strategies. This study…
This contribution provides a microscopic experimental study of pedestrian motion in front of the bottleneck. Identification of individual pedestrians in conducted experiments enables to explain the high variance of travel time by…
Macroscopic models of crowd flow incorporating individual pedestrian choices present many analytic and computational challenges. Anisotropic interactions are particularly subtle, both in terms of describing the correct "optimal" direction…