Related papers: Collective Circular Motion of Multi-Agent Systems …
In this paper consensus in second-order multi-agent systems with a non-periodic sampled-data exchange among agents is investigated. The sampling is random with bounded inter-sampling intervals. It is assumed that each agent has exact…
When a team of agents, such as unmanned aerial/underwater vehicles, are operating in $3$-dimensional space, their coordinated action in pursuit of a cooperative task generally requires all agents to either share a common coordinate system…
The classical multi-agent rendezvous problem asks for a deterministic algorithm by which $n$ points scattered in a plane can move about at constant speed and merge at a single point, assuming each point can use only the locations of the…
While multi-agent interactions can be naturally modeled as a graph, the environment has traditionally been considered as a black box. We propose to create a shared agent-entity graph, where agents and environmental entities form vertices,…
Effective group decision-making is critical in Multi-Agent Systems (MAS). Yet, how different mechanisms for reaching consensus impact collaboration quality and efficiency remains understudied. We conduct a systematic study on group…
Fish, birds, insects and robots frequently swim or fly in groups. During their 3 dimensional collective motion, these agents do not stop, they avoid collisions by strong short-range repulsion, and achieve group cohesion by weak long-range…
Self-organization is a process where a stable pattern is formed by the cooperative behavior between parts of an initially disordered system without external control or influence. It has been introduced to multi-agent systems as an internal…
In this paper we study the emergence of coherence in collective motion described by a system of interacting motiles endowed with an inner, adaptative, steering mechanism. By means of a nonlinear parametric coupling, the system elements are…
Distributed consensus with data rate constraint is an important research topic of multi-agent systems. Some results have been obtained for consensus of multi-agent systems with integrator dynamics, but it remains challenging for general…
Controllability refers to a situation in which a Multi-agent System may be steered from one state to another using specified rules. As a result, there is belief in achieving a given condition by explicit advances. The level of dynamism in…
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 propose a model of multiagent systems whose agents have a tendency to balance their decisions in time. We find phase transitions to oscillatory behavior, explainable by the aggregation of agents into two groups. On a longer time scale,…
This paper presents a method for future motion prediction of multi-agent systems by including group formation information and future intent. Formation of groups depends on a physics-based clustering method that follows the agglomerative…
Multi-agent systems can be extremely efficient when working concurrently and collaboratively, e.g., for transportation, maintenance, search and rescue. Coordination of such teams often involves two aspects: (i) selecting appropriate…
We present a concept of constrained collaborative mobile agents (CCMA) system, which consists of multiple wheeled mobile agents constrained by a passive kinematic chain. This mobile robotic system is modular in nature, the passive kinematic…
In this paper we study a family of controllers that guarantees attitude synchronization for a network of elements in the unit sphere domain, i.e. $\mathcal{S}^2$. We propose distributed continuous controllers for elements whose dynamics are…
Learning to coordinate actions among agents is essential in complicated multi-agent systems. Prior works are constrained mainly by the assumption that all agents act simultaneously, and asynchronous action coordination between agents is…
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…
This paper investigates the problem of cooperative tuning of multi-agent optimal control systems, where a network of agents (i.e. multiple coupled optimal control systems) adjusts parameters in their dynamics, objective functions, or…
Flocking behavior of multiple agents can be widely observed in nature such as schooling fish and flocking birds. Recent literature has proposed the possibility that flocking is possible even only a small fraction of agents are informed of…