Related papers: An all-leader agent-based model for turning and fl…
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…
Animals moving together in groups are believed to interact among each other with effective social forces, such as attraction, repulsion and alignment. Such forces can be inferred using 'force maps', i.e. by analysing the dependency of the…
A decentralized feedback controller for multi-agent systems, inspired by vehicle platooning, is proposed. The closed loop resulting from the decentralized control action has three distinctive features: the generation of collision-free…
In this work, we study the inverse problem of identifying complex flocking dynamics in a domain cluttered with obstacles. We get inspiration from animal flocks moving in complex ways with capabilities far beyond what current robots can do.…
In this paper, we present an original set of flocking rules using an ecologically-inspired paradigm for control of multi-robot systems. We translate these rules into a constraint-driven optimal control problem where the agents minimize…
How do social animals make effective decisions in the absence of a leader? While coordination can improve accuracy, it also introduces delays as information propagates through the group. In changing environments, these delays can outweigh…
Understanding the mechanisms underlying the emergence of leadership in multi-agent systems is still under investigation in many areas of research where group coordination is involved. While leadership has been mostly investigated in the…
Flocking control is a challenging problem, where multiple agents, such as drones or vehicles, need to reach a target position while maintaining the flock and avoiding collisions with obstacles and collisions among agents in the environment.…
Planning for ad hoc teamwork is challenging because it involves agents collaborating without any prior coordination or communication. The focus is on principled methods for a single agent to cooperate with others. This motivates…
We investigate how a shepherd should move to effectively herd a flock towards a target. Using an agent-based (ABM) and a coarse-grained (ODE) model for the flock, we pose and solve for the optimal strategy of a shepherd that must keep the…
We present examples of agent-based and stochastic models of competition and business processes in economics and finance. We start from as simple as possible models, which have microscopic, agent-based, versions and macroscopic treatment in…
Escalating air traffic demand is driving the adoption of automation to support air traffic controllers, but existing approaches face a trade-off between safety assurance and interpretability. Optimisation-based methods such as reinforcement…
In nature, flocking or swarm behavior is observed in many species as it has beneficial properties like reducing the probability of being caught by a predator. In this paper, we propose SELFish (Swarm Emergent Learning Fish), an approach…
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…
The features of animal population dynamics, for instance, flocking and migration, are often synchronized for survival under large-scale climate change or perceived threats. These coherent phenomena have been explained using synchronization…
This work concentrates on different aspects of the \textit{consensus problem}, when applying it to a swarm of flocking agents. We examine the possible influence an external agent, referred to as {\em influencing agent} has on the flock. We…
Most of the grand challenges of humanity today involve complex agent-based systems, such as epidemiology, economics or ecology. However, remains as a pending task the challenge of identifying the general principles underlying their…
This paper studies the time-varying bearing-based tracking of leader-follower formations. The desired constraints between agents are specified by bearing vectors, and several leaders are moving with a bounded reference velocity. Each…
In this work, we propose a minimalistic swarm flocking approach for multirotor unmanned aerial vehicles (UAVs). Our approach allows the swarm to achieve cohesively and aligned flocking (collective motion), in a random direction, without…
For an uncontrollable system, adding leaders and adjusting edge weights are two methods to improve controllability. In this paper, controllability of multi-agent systems under directed topologies is studied, especially on leader selection…