Related papers: Spatial flocking: Control by speed, distance, nois…

A variety of agent-based models has been proposed to account for the emergence of coordinated collective behavior of animal groups from simple interaction rules. A common, simplifying assumption of such collective movement models, is the…

Swarm robotic systems utilize collective behaviour to achieve goals that might be too complex for a lone entity, but become attainable with localized communication and collective decision making. In this paper, a behaviour-based distributed…

Order can spontaneously emerge from seemingly noisy interactions between biological agents, like a flock of birds changing their direction of flight in unison, without a leader or an external cue. We are interested in the generic conditions…

Explaining the wide range of dynamics observed in ecological communities is challenging due to the large number of species involved, the complex network of interactions among them, and the influence of multiple environmental variables.…

There is now experimental evidence that nearest-neighbour interactions in flocks of birds are metric free, i.e. they have no characteristic interaction length scale. However, models that involve interactions between neighbours that are…

Classical flocking models demonstrate how local interactions generate emergent order, but real-world multi-agent deployments are bound by severe constraints: limited actuator availability, heterogeneous communication latencies, and…

Starting from recent experimental observations of starlings and jackdaws, we propose a minimal agent-based mathematical model for bird flocks based on a system of second-order delayed stochastic differential equations with discontinuous…

The aerial flocking of birds, or murmurations, has fascinated observers while presenting many challenges to behavioral study and simulation. We examine how the periphery of murmurations remain well bounded and cohesive. We also investigate…

We introduce a Vicsek-like flocking model with a minimal form of time-delayed orientational interactions, in which the delays occur on a time scale that is well-separated from other time scales in the model. We achieve this by implementing…

We propose a new model in order to study behaviors of self-organized system such as a group of animals. We assume that the individuals have two degrees of freedom corresponding one to their internal state and the other to their external…

The apparent stability of population oscillations in ecological systems is a long-standing puzzle. A generic solution for this problem is suggested here. The stabilizing mechanism involves the combined effect of spatial migration,…

Flocking, as paradigmatically exemplified by birds, is the coherent collective motion of active agents. As originally conceived, flocking emerges through alignment interactions between the agents. Here, we report that flocking can also…

Interactions in active matter systems inherently involve delays due to information processing and actuation lags. We numerically investigate the impact of such delays on the phase behavior of the Vicsek model for motile active matter at a…

We study the role of noise on the nature of the transition to collective motion in dry active matter. Starting from field theories that predict a continuous transition at the deterministic level, we show that fluctuations induce a…

We study the large time behavior of a system of interacting agents modeling the relaxation of a large swarm of robots, whose task is to uniformly cover a portion of the domain by communicating with each other in terms of their distance. To…

Animals that travel together in groups display a variety of fascinating motion patterns thought to be the result of delicate local interactions among group members. Although the most informative way of investigating and interpreting…

Biological systems often consist of a small number of constituents and are therefore inherently noisy. To function effectively, these systems must employ mechanisms to constrain the accumulation of noise. Such mechanisms have been…

For decades, robotics researchers have pursued various tasks for multi-robot systems, from cooperative manipulation to search and rescue. These tasks are multi-robot extensions of classical robotic tasks and often optimized on dimensions…

We investigated different dense multirotor UAV traffic simulation scenarios in open 2D and 3D space, under realistic environments with the presence of sensor noise, communication delay, limited communication range, limited sensor update…

This paper is concerned with mathematical modeling of intelligent systems, such as human crowds and animal groups. In particular, the focus is on the emergence of different self-organized patterns from non-locality and anisotropy of the…