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Nonreciprocal interaction crowd systems, such as human-human, human-vehicle, and human-robot systems, often have serious impacts on pedestrian safety and social order. A more comprehensive understanding of these systems is needed to…
When two pedestrians approach each other on the sidewalk head-on, they sometimes engage in an awkward interaction, both deviating to the same side (repeatedly) to avoid a collision. This phenomenon is known as the sidewalk salsa. Although…
Social interaction dynamics are a special type of group interactions that play a large part in our everyday lives. They dictate how and with whom a certain individual will interact. One of such interactions can be termed "avoidance…
This letter investigates the motion control problem of two mobile robots under allowable collisions. Here, the allowable collisions mean that the collisions do not damage the mobile robots. The occurrence of the collisions is discussed and…
One of the standing challenges in multi-robot systems is the ability to reliably coordinate motions of multiple robots in environments where the robots are subject to disturbances. We consider disturbances that force the robot to…
In this article an anisotropic interaction model avoiding collisions is proposed. Starting point is a general isotropic interacting particle system, as used for swarming or follower-leader dynamics. An anisotropy is induced by rotation of…
One of the pivotal challenges in a multi-robot system is how to give attention to accuracy and efficiency while ensuring safety. Prior arts cannot strictly guarantee collision-free for an arbitrarily large number of robots or the results…
In this paper, we consider coordinated movement of a network of vehicles consisting of a bounded number of malicious agents, that is, vehicles must reach consensus in longitudinal position and a common predefined velocity. The motions of…
Active agents are capable of exerting nonreciprocal forces upon one another. For instance, one agent, say $A$, may attract another agent $B$ while $B$ repels $A$. These antagonistic nonreciprocal interactions have been extensively studied…
Passivity is necessary for robots to fluidly collaborate and interact with humans physically. Nevertheless, due to the unconstrained nature of passivity-based impedance control laws, the robot is vulnerable to infeasible and unsafe…
Finding feasible and collision-free paths for multiple nonlinear agents is challenging in the decentralized scenarios due to limited available information of other agents and complex dynamics constraints. In this paper, we propose a fast…
The multi-agent system has been a hot topic in the past few decades owing to its lower cost, higher robustness, and higher flexibility. As a particular multi-agent system, the multiple rigid body system received a growing interest for its…
Deploying a safe mobile robot policy in scenarios with human pedestrians is challenging due to their unpredictable movements. Current Reinforcement Learning-based motion planners rely on a single policy to simulate pedestrian movements and…
In this paper we devise a microscopic (agent-based) mathematical model for reproducing crowd behaviour in a specific scenario: a number of pedestrians, consisting of numerous social groups, flow along a corridor until a gate located at the…
This paper considers the collective circular motion of multi-agent systems in which all the agents are required to traverse different circles or a common circle at a prescribed angular velocity. It is required to achieve these collective…
Achieving rapid and effective active collision avoidance in dynamic interactive traffic remains a core challenge for autonomous driving. This paper proposes REACT (Runtime-Enabled Active Collision-avoidance Technique), a closed-loop…
When multiple agents share space, interactions can lead to deadlocks, where no agent can advance towards its goal. This paper addresses this challenge with a deadlock recovery strategy. In particular, the proposed algorithm integrates…
The pursuit-evasion game is studied for two adversarial active agents, modelled as a deterministic self-steering pursuer and a stochastic, cognitive evader. The pursuer chases the evader by reorienting its propulsion direction with limited…
In this work we study the problem of one-dimensional elastic collisions of billiard balls, considered as rigid bodies, in a framework very different from the classical one presented in text books. Implementing the notion of impedance…
Autonomous vehicles are suited for continuous area patrolling problems. Finding an optimal patrolling strategy can be challenging due to unknown environmental factors, such as wind or landscape; or autonomous vehicles' constraints, such as…