Related papers: Group chasing tactics: how to catch a faster prey?
In this paper, we investigate the fixed-time behavioral control problem for a team of second-order nonlinear agents, aiming to achieve a desired formation with collision/obstacle~avoidance. In the proposed approach, the two behaviors(tasks)…
In this chapter, we discuss the mathematical modeling of egressing pedestrians in an unknown environment with multiple exits. We investigate different control problems to enhance the evacuation time of a crowd of agents, by few informed…
Activity recognition and, more generally, behavior inference tasks are gaining a lot of interest. Much of it is work in the context of human behavior. New available tracking technologies for wild animals are generating datasets that…
We study the collective motion of autonomous mobile agents on a ringlike environment. The agents' dynamics is inspired by known laboratory experiments on the dynamics of locust swarms. In these experiments, locusts placed at arbitrary…
Foraging, either solitarily or collectively, is a necessary behavior for survival that is demonstrated by many organisms. Foraging can be collectively optimized by utilizing communication between the organisms. Examples of such…
This paper investigates a pursuit-evasion problem involving three agents: a pursuer, an evader, and a defender. Cooperative guidance laws are developed for the evader-defender team that guarantee interception of the pursuer by the defender…
Collective sensing is an emergent phenomenon which enables individuals to estimate a hidden property of the environment through the observation of social interactions. Previous work on collective sensing shows that gregarious individuals…
We address the problem of tracking and detecting interactions between the different groups of runners that form during a race. In athletic races control points are set to monitor the progress of athletes over the course. Intuitively, a {\it…
In this paper, we present a model describing the collective motion of birds. The model introduces spontaneous changes in direction which are initialized by few agents, here referred as leaders, whose influence act on their nearest…
Emergent communication has made strides towards learning communication from scratch, but has focused primarily on protocols that resemble human language. In nature, multi-agent cooperation gives rise to a wide range of communication that…
In animal societies as well as in human crowds, many observed collective behaviours result from self-organized processes based on local interactions among individuals. However, models of crowd dynamics are still lacking a systematic…
A standard belief on emerging collective behavior is that it emerges from simple individual rules. Most of the mathematical research on such collective behavior starts from imperative individual rules, like always go to the center. But how…
People organize in groups and contagions spread across them. A simple stochastic process, yet complex to model due to dynamical correlations within and between groups. Moreover, groups can evolve if agents join or leave in response to…
The design of control systems for the spatial self-organization of mobile agents is an open challenge across several engineering domains, including swarm robotics and synthetic biology. Here, we propose a bio-inspired leader-follower…
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…
For robots to be a part of our daily life, they need to be able to navigate among crowds not only safely but also in a socially compliant fashion. This is a challenging problem because humans tend to navigate by implicitly cooperating with…
We introduce and analyze a model for the dynamics of flocking and steering of a finite number of agents. In this model, each agent's acceleration consists of flocking and steering components. The flocking component is a generalization of…
Several models of flocking have been promoted based on simulations with qualitatively naturalistic behavior. In this paper we provide the first direct application of computational modeling methods to infer flocking behavior from…
Experiments in predator-prey systems show the emergence of long-term cycles. Deterministic model typically fails in capturing these behaviors, which emerge from the microscopic interplay of individual based dynamics and stochastic effects.…
Through multi-agent competition and the sparse high-level objective of winning a race, we find that both agile flight (e.g., high-speed motion pushing the platform to its physical limits) and strategy (e.g., overtaking or blocking) emerge…