Related papers: Forced variational integrator for distance-based s…
A modern notion of integrability is that of multidimensional consistency (MDC), which classically implies the coexistence of (commuting) dynamical flows in several independent variables for one and the same dependent variable. This property…
We study the general formation problem for a group of mobile agents in a plane, in which the agents are required to maintain a distribution pattern, as well as to rotate around or remain static relative to a static/moving target. The…
The simulation of multi-body systems with frictional contacts is a fundamental tool for many fields, such as robotics, computer graphics, and mechanics. Hard frictional contacts are particularly troublesome to simulate because they make the…
This paper addresses the problem of position- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in a $3$D workspace with obstacles. More specifically, we design a decentralized control protocol…
We propose a novel approach for performing dynamical system identification, based upon the comparison of simulated and observed physical invariant measures. While standard methods adopt a Lagrangian perspective by directly treating…
In this paper, we propose a novel model-based multi-agent reinforcement learning approach named Value Decomposition Framework with Disentangled World Model to address the challenge of achieving a common goal of multiple agents interacting…
In this paper, we propose an efficient numerical treatment for solving contact problems with friction between deformable bodies. The discretized normal and tangential constraints at the candidate contact interface are expressed by using…
We introduce a stochastic agent-based model for the flocking dynamics of self-propelled particles that exhibit velocity-alignment interactions with neighbours within their field of view. The stochasticity in the dynamics of the model arises…
This paper considers a group of mobile autonomous agents moving in Euclidean space with point mass dynamics. We introduce a set of coordination control laws that enable the group to generate the desired stable flocking motion. The control…
Symplectic integration algorithms have become popular in recent years in long-term orbital integrations because these algorithms enforce certain conservation laws that are intrinsic to Hamiltonian systems. For problems with large variations…
We introduce a scalable variational method for simulating the dynamics of interacting open quantum bosonic systems deep in the quantum regime. The method is based on a multi-dimensional Wigner phase-space representation and employs a…
In this paper, we take a first step towards generalizing a recently proposed method for dealing with the problem of convergence to incorrect equilibrium points of distance-based formation controllers. Specifically, we introduce a distance…
The paper demonstrates that invariant foliations are accurate, data-efficient and practical tools for data-driven modelling of physical systems. Invariant foliations can be fitted to data that either fill the phase space or cluster about an…
This paper shows that the dynamics of a general class of aerial manipulators, consist of an underactuated multi-rotor base with an arbitrary k-linked articulated manipulator, are differentially flat. Methods of Lagrangian Reduction under…
Variational principles are important in the investigation of large classes of physical systems. They can be used both as analytical methods as well as starting points for the formulation of powerful computational techniques such as…
This paper studies the problem of distributed formation maneuver control of multi-agent systems via complex Laplacian. We will show how to change the translation, scaling, rotation, and also the shape of formation continuously by only…
The naive application of Reinforcement Learning algorithms to continuous control problems -- such as locomotion and manipulation -- often results in policies which rely on high-amplitude, high-frequency control signals, known colloquially…
This study introduces a first step for constructing a hybrid reduced-order models (ROMs) for segregated fluid-structure interaction in an Arbitrary Lagrangian-Eulerian (ALE) approach at a high Reynolds number using the Finite Volume Method…
In this note we describe how some objects from generalized geometry appear in the qualitative analysis and numerical simulation of mechanical systems. In particular we discuss double vector bundles and Dirac structures. It turns out that…
This paper presents a novel zone-based flocking control approach suitable for dynamic multi-agent systems (MAS). Inspired by Reynolds behavioral rules for $boids$, flocking behavioral rules with the zones of repulsion, conflict, attraction,…