Related papers: Controlling swarms towards flocks and mills
We study dynamic self-organisation and order-disorder transitions in a two-dimensional system of self-propelled particles. Our model is a variation of the Vicsek model, where particles align the motion to their neighbours but repel each…
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…
In formation control, triangular formations consisting of three autonomous agents serve as a class of benchmarks that can be used to test and compare the performances of different controllers. We present an algorithm that combines the…
We study a constrained optimal control problem for an ensemble of control systems. Each sub-system (or plant) evolves on a matrix Lie group, and must satisfy given state and control action constraints pointwise in time. In addition, certain…
This work is a continuation of the previous one in [{\it Optimization} (2023)], where the existence of optimal solutions and first-order necessary optimality conditions in both Pontryagin's maximum principle form and the variational form…
Active matter physics and swarm robotics have provided powerful tools for the study and control of ensembles driven by internal sources. At the macroscale, controlling swarms typically utilizes significant memory, processing power, and…
The recent promises of Model Predictive Control in robotics have motivated the development of tailored second-order methods to solve optimal control problems efficiently. While those methods benefit from strong convergence properties,…
It has been shown that self-triggered control has the ability to reduce computational loads and deal with the cases with constrained resources by properly setting up the rules for updating the system control when necessary. In this paper,…
In this paper, an event-triggered control protocol is developed to investigate flocking control of Lagrangian systems, where event-triggering conditions are proposed to determine when the velocities of the agents are transmitted to their…
Flocking control is essential for multi-robot systems in diverse applications, yet achieving efficient flocking in congested environments poses challenges regarding computation burdens, performance optimality, and motion safety. This paper…
We study controllability of a Partial Differential Equation of transport type, that arises in crowd models. We are interested in controlling such system with a control being a Lipschitz vector field on a fixed control set $\omega$. We prove…
We consider the problem of steering control for the systems of one spin 1/2 particle and two interacting homonuclear spin 1/2 particles in an electro-magnetic field. The describing models are bilinear systems whose state varies on the Lie…
Large swarms of autonomous devices are increasing in size and importance. When it comes to controlling the devices of large-scale swarms there are two main lines of thought. Centralized control, where all decisions - and often compute -…
Optimizing modern production plants using the job-shop principle is a known hard problem. For very large plants, like semiconductor fabs, the problem becomes unsolvable on a plant-wide scale in a reasonable amount of time using classical…
This paper introduces a safety-critical optimization-based control strategy that leverages control Lyapunov and control barrier functions to guide the spatial density of robotic swarms governed by the Fokker-Planck equation to a predefined…
Animals having a trend to align their velocities to an average of their neighbors' may flock as illustrated by the Vicsek model and its variants. If, in addition, they feel a systematic contrarian trend, the result may be a time periodic…
We study the singular stochastic optimal control problem with model uncertainty, where the necessary conditions determined by the corresponding maximum principle are trivial. Robust integral form and pointwise second order necessary…
In this paper we present a reformulation--framed as a constrained optimization problem--of multi-robot tasks which are encoded through a cost function that is to be minimized. The advantages of this approach are multiple. The…
We study a collection of self-propelled polar particles on a two-dimensional substrate with birth and death. We introduce a minimal lattice model for the system using active Ising spins, where each particle can have two possible…
We study a control system resembling a singularly perturbed system whose variables are decomposed into groups that change their values with rates of different orders of magnitude. We establish that the slow trajectories of this system are…