Related papers: Guidance of Agents in Cyclic Pursuit

We study the emergence of cooperative behaviors in reinforcement learning agents by introducing a challenging competitive multi-agent soccer environment with continuous simulated physics. We demonstrate that decentralized, population-based…

This paper investigates control laws allowing mobile, autonomous agents to optimally position themselves on the line for distributed sensing in a nonuniform field. We show that a simple static control law, based only on local measurements…

We consider the distributed leader-follower consensus problem with event-triggered communications. The system under consideration is a non-linear input-affine multi agent system. The agents are assumed to have identical dynamics structure…

Uncovering the mechanism behind the scaling law in human trajectories is of fundamental significance in understanding many spatio-temporal phenomena. In combination of the exploration and the preferential returns, we propose a simple…

In this paper, we propose an agent-based model of information spread, grounded on psychological insights on the formation and spread of beliefs. In our model, we consider a network of individuals who share two opposing types of information…

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…

Diverse collective dynamics emerge in dynamical systems interacting on top of complex network architectures. Along this line of research, temporal network has come out to be one of the most promising network platforms to investigate.…

In animal societies as well as in human crowds, many observed collective behaviours result from self-organized processes based on local interactions among individuals. However, models of crowd dynamics are still lacking a systematic…

We explore how physical scale and population size shape the emergence of complex behaviors in open-ended ecological environments. In our setting, agents are unsupervised and have no explicit rewards or learning objectives but instead evolve…

Dynamical systems across many disciplines are modeled as interacting particles or agents, with interaction rules that depend on a very small number of variables (e.g. pairwise distances, pairwise differences of phases, etc...), functions of…

Most real world collectives, including active particles, living cells, and grains, are heterogeneous, where individuals with differing properties interact. The differences among individuals in their intrinsic properties have emergent…

This paper studies robust tracking control for a leader-follower multi-agent system (MAS) subject to disturbances. A challenging problem is considered here, which differs from those in the literature in two aspects. First, we consider the…

Mechanisms of emergence and destruction are analyzed, as well as characteristics of synchronous and asynchronous modes of behavior of ensembles (swarms) of interacting mobile agents moving according to chaotic phase trajectories of Rossler…

We consider open multi-agent systems. Unlike the systems usually studied in the literature, here agents may join or leave while the process studied takes place. The system composition and size evolve thus with time. We focus here on systems…

This work considers the problem of detecting signals from multiple sequentially observed data streams, where only one stream can be observed at every time instant. The goal is to detect signals as quickly as possible while controlling the…

In this work, leader follower consensus objective has been addressed with the synthesis of an event based controller utilizing sliding mode robust control. The schema has been partitioned into two parts viz. finite time consensus problem…

This paper considers a pursuit-evasion scenario among three agents -- an evader, a pursuer, and a defender. We design cooperative guidance laws for the evader and the defender team to safeguard the evader from an attacking pursuer. Unlike…

Collective motion among biological organisms such as insects, fish, and birds has motivated considerable interest not only in biology but also in distributed robotic systems. In a robotic or biological swarm, anomalous agents (whether…

A circular pursuit guidance problem involving pursuer-target engagement is studied in this paper using a bifurcation theory based numerical approach. While target is modeled as a point mass moving around in a circle with certain velocity,…

This paper addresses the problem of consensus tracking with fixed-time convergence, for leader-follower multi-agent systems with double-integrator dynamics, where only a subset of followers has access to the state of the leader. The control…