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This paper revisits a well studied leader-following consensus problem of linear multi-agent systems, while aiming at follower nodes' transient performance. Conventionally, when not all follower nodes have access to the leader's state…
Humans exhibit a wide range of adaptive and robust dynamic motion behavior that is yet unmatched by autonomous control systems. These capabilities are essential for real-time behavior generation in cluttered environments. Recent work…
We introduce a distributed control architecture for a class of heterogeneous, nonlinear dynamical agents moving in the "string" formation, while guaranteeing trajectory tracking, collision avoidance and the preservation of the formation's…
Cyclic pursuit frameworks, which are built upon pursuit interactions between neighboring agents in a cycle graph, provide an efficient way to create useful global behaviors in a collective of autonomous robots. Previous work had considered…
In this paper we are concerned with multiscale modeling, control, and simulation of self-organizing agents leaving an unknown area under limited visibility, with special emphasis on crowds. We first introduce a new microscopic model…
Synchronized movement of (both unicellular and multicellular) systems can be observed almost everywhere. Understanding of how organisms are regulated to synchronized behavior is one of the challenging issues in the field of collective…
Limited information availability represents a fundamental challenge for control of multi-agent systems, since an agent often lacks sensing capabilities to measure certain states of its own and can exchange data only with its neighbors. The…
Consider the following broadcasting process run on a connected graph $G=(V,E)$. Suppose that $k \ge 2$ agents start on vertices selected from $V$ uniformly and independently at random. One of the agents has a message that she wants to…
This paper introduces a crowd modeling and motion control approach that employs diffusion adaptation within an adaptive network. In the network, nodes collaboratively address specific estimation problems while simultaneously moving as…
A group of mobile agents, identical, anonymous, and oblivious (memoryless), having the capability to sense only the relative direction (bearing) to neighborhing agents within a finite visibility range, are shown to gather to a meeting point…
Several algorithms in prior literature have been proposed which guarantee consensus of normally behaving agents in a network that may contain adversarially behaving agents. These algorithms guarantee that the consensus value lies within the…
Motivated by station-keeping applications in various unmanned settings, this paper introduces a steering control law for a pair of agents operating in the vicinity of a fixed beacon in a three-dimensional environment. This feedback law is a…
A novel strategy aimed at cooperatively differentiating a signal among multiple interacting agents is introduced, where none of the agents needs to know which agent is the leader, i.e. the one producing the signal to be differentiated.…
Motivated by real-world applications of unmanned aerial vehicles, this paper introduces a decentralized control mechanism to guide steering control of autonomous agents maneuvering in the vicinity of multiple moving entities (e.g. other…
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…
To cooperate with humans effectively, virtual agents need to be able to understand and execute language instructions. A typical setup to achieve this is with a scripted teacher which guides a virtual agent using language instructions.…
An event-triggered control technique for consensus of multi-agent systems with general linear dynamics is presented. This paper extends previous work to consider agents that are connected using directed graphs. Additionally, the approach…
Distance control in many-particle systems is a fundamental problem in nature. This becomes particularly relevant in systems of active agents, which can sense their environment and react by adjusting their direction of motion. We employ…
Given a connected region in two-dimensional space where events of a certain kind occur according to a certain time-varying density, we consider the problem of setting up a network of autonomous mobile agents to detect the occurrence of…
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…