Related papers: Patterned Dynamics of Delay-Coupled Swarms with Ra…
Swarms, such as schools of fish or drone formations, are prevalent in both natural and engineered systems. While previous works have focused on the social interactions within swarms, the role of external perturbations--such as environmental…
Human mobility patterns are complex and distinct from one person to another. Nevertheless, motivated by tremendous potential benefits of modeling such patterns in enabling new mobile services and technologies, researchers have attempted to…
We consider both leaderless and leader-follower, possibly nonlinear, networks affected by time-varying communication delays. For such systems, we give a set of sufficient conditions that guarantee the convergence of the network towards some…
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…
We study a simple but compelling model of $n$ interacting agents via time-dependent, unidirectional communication. The model finds wide application in a variety of fields including synchronization, swarming and distributed decision making.…
We investigate a coordination model for a two-stage collective decision-making problem within the framework of global games. The agents observe noisy signals of a shared random variable, referred to as the fundamental, which determines the…
We study chaotic systems with multiple time delays that range over several orders of magnitude. We show that the spectrum of Lyapunov exponents (LE) in such systems possesses a hierarchical structure, with different parts scaling with the…
This paper studies the stability and convergence properties of a class of multi-agent concurrent learning (CL) algorithms with momentum and restart. Such algorithms can be integrated as part of the estimation pipelines of data-enabled…
This paper focuses on consensus problems for high-order, linear multi-agent systems. Undirected communication topologies and fixed, uniform communication time delay are taken into account. This class of problems has been widely study in the…
In this empirical paper, we investigate how learning agents can be arranged in more efficient communication topologies for improved learning. This is an important problem because a common technique to improve speed and robustness of…
Intermittent faults are transient errors that sporadically appear and disappear. Although intermittent faults pose substantial challenges to reliability and coordination, existing studies of fault tolerance in robot swarms focus instead on…
Many natural and human-made complex systems feature group interactions that adapt over time in response to their dynamic states. However, most of the existing adaptive network models fall short of capturing these group dynamics, as they…
A number of coordinated behaviors have been proposed for achieving specific tasks for multi-robot systems. However, since most applications require more than one such behavior, one needs to be able to compose together sequences of behaviors…
A nonlinear small-world network model has been presented to investigate the effect of nonlinear interaction and time delay on the dynamic properties of small-world networks. Both numerical simulations and analytical analysis for networks…
Small-world networks are networks in which the graphical diameter of the network is as small as the diameter of random graphs but whose nodes are highly clustered when compared with the ones in a random graph. Examples of small-world…
Swarm robotics is a creative method of organizing multi-robot structures, consisting of many basic robots influenced by communal insects. The greatest astonishing attribute of swarm robots is their capacity to function together to…
We consider the following variant of the two dimensional gathering problem for swarms of robots: Given a swarm of $n$ indistinguishable, point shaped robots on a two dimensional grid. Initially, the robots form a closed chain on the grid…
Collective behavior, and swarm formation in particular, has been studied from several perspectives within a large variety of fields, ranging from biology to physics. In this work, we apply Projective Simulation to model each individual as…
We consider the problem of completely covering an unknown discrete environment with a swarm of asynchronous, frequently-crashing autonomous mobile robots. We represent the environment by a discrete graph, and task the robots with occupying…
It is known that an identical delay in all transmission lines can destabilize macroscopic stationarity of a neural network, causing oscillation or chaos. We analyze the collective dynamics of a network whose intra-transmission delays are…