Related papers: Modelling Hierarchical Flocking
Empirically derived continuum models of collective behavior among large populations of dynamic agents are a subject of intense study in several fields, including biology, engineering and finance. We formulate and study a mean-field game…
Ecological models traditionally explain stability and coexistence through pairwise interactions among species. These interactions can also involve groups of three or more species, higher-order interactions, which recent theory suggests can…
The emerging behaviors of swarms have fascinated scientists and gathered significant interest in the field of robotics. Traditionally, swarms are viewed as egalitarian, with robots sharing identical roles and capabilities. However, recent…
We investigate a general class of models for swarming/self-collective behaviour in domains with boundaries. The model is expressed as a stochastic system of interacting particles subject to both reflecting boundary condition and common…
Collective animal movement fascinates children and scientists alike. One of the most commonly given explanations for collective animal movement is improved foraging. Animals are hypothesized to gain from searching for food in groups. Here,…
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…
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…
Living in groups brings benefits to many animals, such as a protection against predators and an improved capacity for sensing and making decisions while searching for resources in uncertain environments. A body of studies has shown how…
Hierarchy is one of the most conspicuous features of numerous natural, technological and social systems. The underlying structures are typically complex and their most relevant organizational principle is the ordering of the ties among the…
Flocking phase transitions found in models of polar active matter are paradigmatic examples of active phase transitions in soft matter. An interesting specialization of flocking models concerns a ``topological'' vs ``metric'' choice by…
We consider the collective behaviour of active particles that locally align with their neighbours. Agent-based simulation models have previously shown that in one dimension, these particles can form into a flock that maintains its stability…
Flocking model has been widely used to control robotic swarm. However, with the increasing scalability, there exist complex conflicts for robotic swarm in autonomous navigation, brought by internal pattern maintenance, external environment…
From bird flocks to fish schools, animal groups often seem to react to environmental perturbations as if of one mind. Most studies in collective animal behaviour have aimed to understand how a globally ordered state may emerge from simple…
We present the hydrodynamic theory of coherent collective motion ("flocking") at a solid-liquid interface, and many of its predictions for experiment. We find that such systems are stable, and have long-range orientational order, over a…
The modeling and investigation of the dynamics and configurations of animal groups is a subject of growing attention. In this paper, we present a continuum model of flocking and use it to investigate the reaction of a flock to an obstacle…
We present a simple model of communication in networks with hierarchical branching. We analyze the behavior of the model from the viewpoint of critical systems under different situations. For certain values of the parameters, a continuous…
In a refreshing mathematical investigation, Mark (2018) shows that status hierarchy may facilitate the emergence of cooperation in groups. Despite the contribution, the present paper notes that there are limitations in Mark's model that…
Leadership and followership are essential parts of collective decision and organization in social animals, including humans. In nature, relationships of leaders and followers are dynamic and vary with context or temporal factors.…
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…
A number of coordinated behaviors have been proposed for achieving specific tasks for multi-robot systems. However, since most applications require more than one such behavior, one needs to be able to compose together sequences of behaviors…