Related papers: Influencing Flock Formation in Low-Density Setting…

This paper develops a game-theoretic model and an agent-based model to study group formation driven by resource pooling, spatial cohesion, and heterogeneity. We focus on cross-sector partnerships (CSPs) involving public, private, and…

We study the emergent flocking behavior in a group of Cucker-Smale flocking agents under rooted leadership with alternating leaders. It is well known that the network topology regulates the emergent behaviors of flocks. All existing results…

We introduce a Cucker-Smale-type model for flocking, where the strength of interaction between two agents depends on their relative separation (called "topological distance" in previous works), which is the number of intermediate…

Planning for ad hoc teamwork is challenging because it involves agents collaborating without any prior coordination or communication. The focus is on principled methods for a single agent to cooperate with others. This motivates…

We introduce a model for self-organized dynamics which, we argue, addresses several drawbacks of the celebrated Cucker-Smale (C-S) model. The proposed model does not only take into account the distance between agents, but instead, the…

We study the long-time hydrodynamic behavior of systems of multi-species which arise from agent-based description of alignment dynamics. The interaction between species is governed by an array of symmetric communication kernels. We prove…

Communication or influence networks are probably the most controllable of all factors that are known to impact on the problem-solving capability of task-forces. In the case connections are costly, it is necessary to implement a policy to…

We study the shepherding control problem where a group of "herders" need to orchestrate their collective behaviour in order to steer the dynamics of a group of "target" agents towards a desired goal. We relax the strong assumptions of…

Resource allocation takes place in various types of real-world complex systems such as urban traf- fic, social services institutions, economical and ecosystems. Mathematically, the dynamical process of complex resource allocation can be…

We study the (hydro-)dynamics of multi-species driven by alignment. What distinguishes the different species is the protocol of their interaction with the rest of the crowd: the collective motion is described by different communication…

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…

Self-organization is a process where a stable pattern is formed by the cooperative behavior between parts of an initially disordered system without external control or influence. It has been introduced to multi-agent systems as an internal…

The correlated motion of flocks is an instance of global order emerging from local interactions. An essential difference with analogous ferromagnetic systems is that flocks are active: animals move relative to each other, dynamically…

This paper presents an approach to externally influencing a team of robots by means of time-varying density functions. These density functions represent rough references for where the robots should be located. To this end, a continuous-time…

Flocking control is a challenging problem, where multiple agents, such as drones or vehicles, need to reach a target position while maintaining the flock and avoiding collisions with obstacles and collisions among agents in the environment.…

Collective motion is abundant in nature, producing a vast amount of phenomena which have been studied in recent years, including the landing of flocks of birds. We investigate the collective decision making scenario where a flock of birds…

Collective migration of cells and animals often relies on a specialised set of "leaders", whose role is to steer a population of naive followers towards some target. We formulate a continuous model to understand the dynamics and structure…

We address the problem of controlling the density of a large ensemble of follower agents by acting on a group of leader agents that interact with them. Using coupled partial integro-differential equations to describe leader and follower…

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…

We introduce and study a model of an interacting population of agents who collaborate in groups which compete for limited resources. Groups are formed by random matching agents and their worth is determined by the sum of the efforts…