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This paper addresses the problem of collaborative formation control for multi-agent systems with limited resources. We consider a team of robots tasked with achieving a desired formation from an arbitrary initial configuration. To reduce…
Homophily and social influence are the fundamental mechanisms that drive the evolution of attitudes, beliefs and behaviour within social groups. Homophily relates the similarity between pairs of individuals' attitudinal states to their…
Multiagent systems consist of agents that locally exchange information through a physical network subject to a graph topology. Current control methods for networked multiagent systems assume the knowledge of graph topologies in order to…
The traditional goal of inverse self-assembly is to design interactions that drive particles toward a desired target structure. However, achieving successful self-assembly also requires tuning the thermodynamic conditions under which the…
Humanoid agents are expected to emulate the complex coordination inherent in human social behaviors. However, existing methods are largely confined to single-agent scenarios, overlooking the physically plausible interplay essential for…
This paper addresses the consensus problem and the formation problem on SE(3) in multi-agent systems with directed and switching interconnection topologies. Several control laws are introduced for the consensus problem. By a simple…
A major challenge for Multi-Agent Systems is enabling agents to adapt dynamically to diverse environments in which opponents and teammates may continually change. Agents trained using conventional methods tend to excel only within the…
Altruistic cooperation is costly yet socially desirable. As a result, agents struggle to learn cooperative policies through independent reinforcement learning (RL). Indirect reciprocity, where agents consider their interaction partner's…
This article presents a new technique for suboptimal consensus protocol design for a class of multiagent systems. The technique is based upon the extension of newly developed sufficient conditions for suboptimal linear-quadratic optimal…
Polarization issue is generally subject to ideological polarization and affective polarization. In particular, affective polarization usually accelerates the polarization process and transform social interactions into a zero-sum game. Yet,…
This paper considers the distributed leader-follower stress-matrix-based affine formation control problem of discrete-time linear multi-agent systems with static and dynamic leaders. In leader-follower multi-agent formation control, the aim…
This paper investigates the asymptotic behavior of some common opinion dynamic models in a continuum of agents. We show that as long as the interactions among the agents are symmetric, the distribution of the agents' opinion converges. We…
Most models of epidemic spread, including many designed specifically for COVID-19, implicitly assume mass-action contact patterns and undirected contact networks, meaning that the individuals most likely to spread the disease are also the…
Geometric pattern formation is crucial in many tasks involving large-scale multi-agent systems. Examples include mobile agents performing surveillance, swarm of drones or robots, or smart transportation systems. Currently, most control…
This paper presents a distributed adaptive control strategy for multi-agent systems with heterogeneous dynamics and collision avoidance. We propose an adaptive control strategy designed to ensure leader-following formation consensus while…
This paper analyzes the asymptotic behavior of inter-event times in planar linear systems, under event-triggered control with a general class of scale-invariant event triggering rules. In this setting, the inter-event time is a function of…
Large collections of coupled, heterogeneous agents can manifest complex dynamical behavior presenting difficulties for simulation and analysis. However, if the collective dynamics lie on a low-dimensional manifold then the original…
Turn-taking behaviour is simulated in a coupled agents system. Each agent is modelled as a mobile robot with two wheels. A recurrent neural network is used to produce the motor outputs and to hold the internal dynamics. Agents are developed…
In biological systems, active agents such as actomyosin and cells move and interact on curved surfaces, exhibiting diverse phenomena. These observations have motivated studies of how curvature shapes their collective behavior. Here, using a…
This work studies the effects of a weak notion of symmetry on diffusively-coupled multi-agent systems. We focus on networks comprised of agents and controllers which are maximally equilibrium independent passive, and show that these…