Related papers: Collective Circular Motion of Multi-Agent Systems …
A group of mobile agents, identical, anonymous, and oblivious (memoryless), having the capability to sense only the relative direction (bearing) to neighborhing agents within a finite visibility range, are shown to gather to a meeting point…
This paper addresses distributed average tracking of physical second-order agents with nonlinear dynamics, where the interaction among the agents is described by an undirected graph. In both agents' and reference inputs' dynamics, there is…
In recent years, many efforts have been addressed on collision avoidance of collectively moving agents. In this paper, we propose a modified version of the Vicsek model with adaptive speed, which can guarantee the absence of collisions.…
We focus on the problem of planning the motion of a robot in a dynamic multiagent environment such as a pedestrian scene. Enabling the robot to navigate safely and in a socially compliant fashion in such scenes requires a representation…
Collective actuation in active solids - the spontaneous coherent excitation of a few vibrational modes - emerges from a feedback between structural deformations and the orientation of active forces. It is an excellent candidate as a basic…
We present a model of active particles interacting through a dynamic, heterogeneous environment, leading to emergent collective behaviors without direct agent-to-agent communication. Expanding the resource-dependent framework introduced in…
Natural, social, and artificial multi-agent systems usually operate in dynamic environments, where the ability to respond to changing circumstances is a crucial feature. An effective collective response requires suitable information…
A simple model of the two dimensional collective motion of a group of mobile agents have been studied. Like birds, these agents travel in open free space where each of them interacts with the first $n$ neighbors determined by the…
This paper investigates control laws allowing mobile, autonomous agents to optimally position themselves on the line for distributed sensing in a nonuniform field. We show that a simple static control law, based only on local measurements…
Distance control in many-particle systems is a fundamental problem in nature. This becomes particularly relevant in systems of active agents, which can sense their environment and react by adjusting their direction of motion. We employ…
This paper addresses the formation maneuver control problem of leader-follower multi-agent systems with high-order integrator dynamics. A distributed output feedback formation maneuver controller is proposed to achieve desired maneuvers so…
In this paper, we consider a mean field game model inspired by crowd motion in which several interacting populations evolving in $\mathbb R^d$ aim at reaching given target sets in minimal time. The movement of each agent is described by a…
Consider a collaborative task carried out by two autonomous agents that are able to communicate over a noisy channel. Each agent is only aware of its own state, while the accomplishment of the task depends on the value of the joint state of…
Recently it has been reported that range-measurement inconsistency, or equivalently mismatches in prescribed inter-agent distances, may prevent the popular gradient controllers from guiding rigid formations of mobile agents to converge to…
In complex multi-agent systems involving heterogeneous teams, uncertainty arises from numerous sources like environmental disturbances, model inaccuracies, and changing tasks. This causes planned trajectories to become infeasible, requiring…
In this report we show the emergent behavior of a group of agents, ordered from 1 to n, performing deviated, linear, cyclic pursuit, in the presence of a broadcast guidance control. Each agent senses the relative position of its target,…
We propose a new paradigm for emergence of macroscopic flows. The latter are considered as a collective phenomenon created by many agents that exchange abstract information. The information exchange causes agents to change their relative…
In this paper we address the multi-agent collaborative object transportation problem in a partially known environment with obstacles under a specified goal condition. We propose a leader follower approach for two mobile manipulators…
The recent major developments in information technologies have opened interesting possibilities for the effective management of multi-agent systems. In many cases, the important role of central control nodes can now be undertaken by several…
Multi-agent systems (MASs) can autonomously learn to solve previously unknown tasks by means of each agent's individual intelligence as well as by collaborating and exploiting collective intelligence. This article considers a group of…