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This paper proposes an agent-based model which reproduces different structures of animal groups. The shape and structure of the group is the effect of simple interaction rules among individuals: each animal deploys itself depending on the…
The design of control systems for the spatial self-organization of mobile agents is an open challenge across several engineering domains, including swarm robotics and synthetic biology. Here, we propose a bio-inspired leader-follower…
We introduce here three complementary models to analyze the role of predation pressure in avian coloniality. Different explanations have been proposed for the existence of colonial breeding behavior in birds, but field studies offer no…
Adjustable autonomy refers to entities dynamically varying their own autonomy, transferring decision-making control to other entities (typically agents transferring control to human users) in key situations. Determining whether and when…
In leader-follower multi-agent networks with switching topologies, choosing a subset of agents as leaders is a critical step to achieve desired performances. In this paper, we concentrate on the problem of selecting a minimum-size set of…
Natural, social, and artificial multi-agent systems usually operate in dynamic environments, where the ability to respond to changing circumstances is a crucial feature. An effective collective response requires suitable information…
In this paper, we present a distributed optimal multiagent control scheme for quadrotor formation tracking under localization errors. Our control architecture is based on a leader-follower approach, where a single leader quadrotor tracks a…
We study a one-dimensional lattice flocking model incorporating all three of the flocking criteria proposed by Reynolds [Computer Graphics vol.21 4 (1987)]: alignment, centring and separation. The model generalises that introduced by O. J.…
We present a decentralized reinforcement learning (RL) approach to address the multi-agent shepherding control problem, departing from the conventional assumption of cohesive target groups. Our two-layer control architecture consists of a…
We propose a method for modeling and learning turn-taking behaviors for accessing a shared resource. We model the individual behavior for each agent in an interaction and then use a multi-agent fusion model to generate a summary over the…
Aerial displays of starlings (Sturnus vulgaris) at their communal roosts are complex: thousands of individuals form multiple flocks which are continually changing shape and density, while splitting and merging. To understand these complex…
A variety of agent-based models has been proposed to account for the emergence of coordinated collective behavior of animal groups from simple interaction rules. A common, simplifying assumption of such collective movement models, is the…
In this article, we present a distributed source-seeking and flocking control method for networked multi-agent systems with non-holonomic constraints. Based solely on identical on-board sensor systems, which measure the source local field,…
Evolutionary game theory is a successful mathematical framework geared towards understanding the selective pressures that affect the evolution of the strategies of agents engaged in interactions with potential conflicts. While a…
Animating and simulating crowds using an agent-based approach is a well-established area where every agent in the crowd is individually controlled such that global human-like behaviour emerges. We observe that human navigation and movement…
Self-organization of a biologically motivated swarm into smaller subgroups of different velocities is found by solving a 1-dimensional adaptive-velocity swarm, in which the velocity of an agent is averaged over a finite local radius of…
Collective motion inspired by animal groups offers powerful design principles for autonomous aerial swarms. We present a bio-inspired 3D flocking algorithm in which each drone interacts only with a minimal set of influential neighbors,…
The problem of guiding a flock of several autonomous agents using repulsion force exerted by a smaller number of agents is called the shepherding problem and has been attracting attention due to its potential engineering applications.…
We study flocking in one dimension, introducing a lattice model in which particles can move either left or right. We find that the model exhibits a continuous nonequilibrium phase transition from a condensed phase, in which a single `flock'…
Flocking is a very challenging problem in a multi-agent system; traditional flocking methods also require complete knowledge of the environment and a precise model for control. In this paper, we propose Evolutionary Multi-Agent…