Related papers: Forced variational integrator for distance-based s…
Formation control with the flocking approach is an efficient method that can reach the formation without determining the agent's position. This paper focuses on reaching the circular formation around the leader or target with a specific…
We report on the development of an implementable physics-data hybrid dynamic model for an articulated manipulator to plan and operate in various scenarios. Meanwhile, the physics-based and data-driven dynamic models are studied in this…
Formation control algorithms for multi-agent systems have gained much attention in the recent years due to the increasing amount of mobile and aerial robotic swarms. The design of safe controllers for these vehicles is a substantial aspect…
Despite the great success of using gradient-based controllers to stabilize rigid formations of autonomous agents in the past years, surprising yet intriguing undesirable collective motions have been reported recently when inconsistent…
In this paper, we derive a variational integrator for certain highly oscillatory problems in mechanics. To do this, we take a new approach to the splitting of fast and slow potential forces: rather than splitting these forces at the level…
Geometric pattern formation is an important emergent behavior in many applications involving large-scale multi-agent systems, such as sensor networks deployment and collective transportation. Attraction/repulsion virtual forces are the most…
We study resonances of nonlinear systems of differential equations, including but not limited to the equations of motion of a particle moving in a potential. We use the calculus of variations to determine the minimal additive forcing…
Flocking behavior of multiple agents can be widely observed in nature such as schooling fish and flocking birds. Recent literature has proposed the possibility that flocking is possible even only a small fraction of agents are informed of…
Many multi-agent systems in practice are decentralized and have dynamically varying dependencies. There has been a lack of attempts in the literature to analyze these systems theoretically. In this paper, we propose and theoretically…
We present a direct approach to the construction of Lagrangians for a large class of one-dimensional dynamical systems with a simple dependence (monomial or polynomial) on the velocity. We rederive and generalize some recent results and…
We formulate a finite-size particle numerical model of strongly magnetized plasmas in the drift-kinetic approximation. We use the phase space action as an alternative to previous variational formulations based on Low's Lagrangian or on a…
Gradient descent methods have been widely used for organizing multi-agent systems, in which they can provide decentralized control laws with provable convergence. Often, the control laws are designed so that two neighboring agents…
The paper considers independent reinforcement learning (IRL) for multi-agent collaborative decision-making in the paradigm of federated learning (FL). However, FL generates excessive communication overheads between agents and a remote…
Discrete Hamiltonian variational integrators are derived from Type II and Type III generating functions for symplectic maps, and in this paper we establish a variational error analysis result that relates the order of accuracy of the…
We develop an explicit, second-order, variational time integrator for full body dynamics that preserves the momenta of the continuous dynamics, such as linear and angular momenta, and exhibits near-conservation of total energy over…
This study highlights the potential of image-based reinforcement learning methods for addressing swarm-related tasks. In multi-agent reinforcement learning, effective policy learning depends on how agents sense, interpret, and process…
Animal swarms displaying a variety of typical flocking patterns would not exist without underlying safe, optimal and stable dynamics of the individuals. The emergence of these universal patterns can be efficiently reconstructed with…
In this paper, we propose a distance-based formation control strategy that can enable four mobile agents, which are modelled by a group of single-integrators, to achieve the desired formation shape specified by using six consistent…
In this paper we show that a variational reduction procedure can be defined for Lagrangian systems subject to scaling symmetries (i.e. Lagrangian systems defined by a homogenous Lagrangian function), in such a way that the trajectories of…
A variational framework for accelerated optimization was recently introduced on normed vector spaces and Riemannian manifolds in Wibisono et al. (2016) and Duruisseaux and Leok (2021). It was observed that a careful combination of…