Related papers: Stochastic Broadcast Control of Multi-Agent Swarms
Controllability of complex networks has been the focal point of many recent studies in the field of complexity. These landmark advances shed a new light on the dynamics of natural and technological complex systems. Here, we analyze the…
In this paper, we present a reinforcement learning approach to designing a control policy for a "leader" agent that herds a swarm of "follower" agents, via repulsive interactions, as quickly as possible to a target probability distribution…
This paper introduces a novel bio-mimetic approach for distributed control of robotic swarms, inspired by the collective behaviors of swarms in nature such as schools of fish and flocks of birds. The agents are assumed to have limited…
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…
Adaptive synchronization protocols for heterogeneous multi-agent network are investigated. The interaction between each of the agents is carried out through a directed graph. We highlight the lack of communication between agents and the…
Swarm and modular robotics are an emerging area in control of autonomous systems. However, coordinating a large group of interacting autonomous agents requires careful consideration of the logistical issues involved. In particular,…
Representation of a swarm of independent robotic agents under graph-theoretic constructs allows for more formal analysis of convergence properties. We consider the local and global convergence behavior of an N-member swarm of agents in a…
Collective motion among biological organisms such as insects, fish, and birds has motivated considerable interest not only in biology but also in distributed robotic systems. In a robotic or biological swarm, anomalous agents (whether…
This paper considers the distributed sampled-data control problem of a group of mobile robots connected via distance-induced proximity networks. A dwell time is assumed in order to avoid chattering in the neighbor relations that may be…
This paper proposes a new architecture for multi-agent systems to cover an unknowingly distributed fast, safely, and decentralizedly. The inter-agent communication is organized by a directed graph with fixed topology, and we model agent…
Swarm dynamics is the study of collections of agents that interact with one another without central control. In natural systems, insects, birds, fish and other large mammals function in larger units to increase the overall fitness of the…
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…
In this paper, a distributed velocity-constrained consensus problem is studied for discrete-time multi-agent systems, where each agent's velocity is constrained to lie in a nonconvex set. A distributed constrained control algorithm is…
This paper addresses the leader-follower flocking problem with a moving leader for networked Lagrange systems with parametric uncertainties under a proximity graph. Here a group of followers move cohesively with the moving leader to…
Broadcast control is one of decentralized control methods for networked multi-agent systems. In this method, each agent does not communicate with the others, and autonomously determines its own action using only the same signal sent from a…
In this paper we are concerned with multiscale modeling, control, and simulation of self-organizing agents leaving an unknown area under limited visibility, with special emphasis on crowds. We first introduce a new microscopic model…
In this paper, we present a communication-free algorithm for distributed coverage of an arbitrary network by a group of mobile agents with local sensing capabilities. The network is represented as a graph, and the agents are arbitrarily…
Collective migration of animals in a cohesive group is rendered possible by a strategic distribution of tasks among members: some track the travel route, which is time and energy-consuming, while the others follow the group by interacting…
An event-triggered control technique for consensus of multi-agent systems with general linear dynamics is presented. This paper extends previous work to consider agents that are connected using directed graphs. Additionally, the approach…
In this paper, we consider a multi-agent system consisting of mobile agents with second-order dynamics. The communication network is determined by the so-called topological interaction rule: agents interact with a fixed number of their…