Related papers: Collective Motion under Beacon-referenced Cyclic P…
In our urbanised societies, the management and regulation of traffic and pedestrian flows is of considerable interest for public safety, economic development, and the conservation of the environment. However, modelling and controlling the…
This paper considers a group of mobile autonomous agents moving in Euclidean space with point mass dynamics. We introduce a set of coordination control laws that enable the group to generate the desired stable flocking motion. The control…
We consider the problem of bridging the gap between geometric tracking control theory and implementation of model predictive control (MPC) for robotic systems operating on manifolds. We propose a generic on-manifold MPC formulation based on…
Integrating rule-based policies into reinforcement learning promises to improve data efficiency and generalization in cooperative pursuit problems. However, most implementations do not properly distinguish the influence of neighboring…
We propose a model predictive control (MPC) based approach to a flock control problem with obstacle avoidance capability in a leader-follower framework, utilizing the future trajectory prediction computed by each agent. We employ the…
Accurately tracking and predicting behaviors of surrounding objects are key prerequisites for intelligent systems such as autonomous vehicles to achieve safe and high-quality decision making and motion planning. However, there still remain…
We study an agent-based model of self-propelled particles with a velocity-dependent alignment rule. This interaction is orientation weighted and acts along the line connecting neighboring particles. Tuning the alignment strength produces…
This paper presents a new approach to behavioral-social dynamics of human crowds. First order models are derived based on mass conservation at the macroscopic scale, while methods of the kinetic theory are used to model the decisional…
This paper studies the cooperative tracking control problem for multiple mobile robots over a directed communication network. First, it is shown that the closed-loop system is uniformly globally asymptotically stable under the proposed…
We present a numerical method that allows a formation of communicating agents to target the boundary of a time dependent concentration by following a time dependent concentration gradient. The algorithm motivated by \cite{MB, BKM}, allows…
Robot navigation in crowded pedestrian environments is a well-known challenge and we explore the practical deployment of group-based representations in this setting. Pedestrian groups have been empirically shown to enable a mobile robot's…
We have developed an experimental setup of very simple self-propelled robots to observe collective motion emerging as a result of inelastic collisions only. A circular pool and commercial RC boats were the basis of our first setup, where we…
The cohesive collective motion (flocking, swarming) of autonomous agents is ubiquitously observed and exploited in both natural and man-made settings, thus, minimal models for its description are essential. In a model with continuous space…
When particles move at a constant speed and have the tendency to align their directions of motion, ordered large scale movement can emerge despite significant levels of noise. Many variants of this model of self-propelled particles have…
Forecasting human trajectories is critical for tasks such as robot crowd navigation and autonomous driving. Modeling social interactions is of great importance for accurate group-wise motion prediction. However, most existing methods do not…
Understanding the organization of collective motion in biological systems is an ongoing challenge. In this Paper we consider a minimal model of self-propelled particles with variable speed. Inspired by experimental data from schooling fish,…
The emerging collective motions of swarms of interacting agents are a subject of great interest in application areas ranging from biology to physics and robotics. In this paper, we conduct a careful analysis of the collective dynamics of a…
Collective movement is observed widely in nature, where individuals interact locally to produce globally ordered, coherent motion. In typical models of collective motion, each individual takes the average direction of multiple neighbors,…
The subject of this work is the patrolling of an environment with the aid of a team of autonomous agents. We consider both the design of open-loop trajectories with optimal properties, and of distributed control laws converging to optimal…
In this work, we investigate an individual-based model (IBM) for self-propelled agents interacting locally on a plane. Agents are characterized by their position, the angle determining their direction of motion, and their angular velocity.…