Related papers: Spatial flocking: Control by speed, distance, nois…
Complex systems with global interactions tend to be stable if interactions between components are sufficiently homogeneous. In biological systems, which often have small copy numbers and interactions mediated by diffusing agents, noise and…
Large animal groups -- bird flocks, fish schools, insect swarms -- are often assumed to form by gradual aggregation of sparsely distributed individuals. Using a mathematically precise framework based on time-varying directed interaction…
Noise, through its interaction with the nonlinearity of the living systems, can give rise to counter-intuitive phenomena such as stochastic resonance, noise-delayed extinction, temporal oscillations, and spatial patterns. In this paper we…
Noise and spatial degrees of freedom characterize most ecosystems. Some aspects of their influence on the coevolution of populations with cyclic interspecies competition have been demonstrated in recent experiments [e.g. B. Kerr et al.,…
We consider flocking of self-propelling agents in two dimensions, each of which communicates with its neighbors within a limited vision cone. Also, the communication occurs with some delay. The communication among the agents are modeled by…
A large class of mesoscopic or macroscopic flocking theories are coarse-grained from microscopic models that feature binary interactions as the chief aligning mechanism. However while such theories seemingly predict the existence of polar…
This paper presents a novel zone-based flocking control approach suitable for dynamic multi-agent systems (MAS). Inspired by Reynolds behavioral rules for $boids$, flocking behavioral rules with the zones of repulsion, conflict, attraction,…
Collective behavior in biological systems was first captured by the Vicsek model, in which particles align their velocities in the average direction of neighbors, leading to coherent motion and showing an order-disorder transition. However,…
Consider a flock of birds that fly interacting between them. The interactions are modelled through a hierarchical system in which each bird, at each time step, adjusts its own velocity according to his past velocity and a weighted mean of…
Cooperative transport is a striking phenomenon where multiple agents join forces to transit a payload too heavy for the individual. While social animals such as ants are routinely observed to coordinate transport at scale, reproducing the…
We present the first decentralized multi-copter flock that performs stable autonomous outdoor flight with up to 10 flying agents. By decentralized and autonomous we mean that all members navigate themselves based on the dynamic information…
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…
We bound the time it takes for a group of birds to reach steady state in a standard flocking model. We prove that (i) within single exponential time fragmentation ceases and each bird settles on a fixed flying direction; (ii) the flocking…
The physics of active biological matter, such as bacterial colonies and bird flocks, exhibiting interesting self-organizing dynamical behavior has gained considerable importance in recent years. Recent theoretical advances use techniques…
Flocking is a behavior where multiple agents in a system attempt to stay close to each other while avoiding collision and maintaining a desired formation. This is observed in the natural world and has applications in robotics, including…
Taking into account simultaneously the Vicsek short range ordering and also the far-field hydrodynamic interactions mediated by the ambient fluid, we investigate the role of long range interactions in the ordering phenomena in a quasi…
In this paper, we consider multiple mobile agents moving in Euclidean space with point mass dynamics. Using a coordination control scheme, we can make the group generate stable flocking motion. The control laws are a combination of…
The phenomenon of group motion is common in nature, ranging from the schools of fish, birds and insects, to avalanches, landslides and sand drift. If we treat objects as collectively moving particles, such phenomena can be studied from a…
We derive from first principles a three-dimensional theory of self-propelled particle swarming in a viscous fluid environment. Our model predicts emergent collective behavior that depends critically on fluid opacity, mechanism of…
Flocking is ubiquitous in nature and emerges due to short- or long-range alignment interactions among self-propelled agents. Two unfriendly species that antialign or even interact nonreciprocally show more complex collective phenomena,…