Related papers: Density control of large-scale particles swarm thr…

Multi-robot cooperative control has gained extensive research interest due to its wide applications in civil, security, and military domains. This paper proposes a cooperative control algorithm for multi-robot systems with general linear…

Coordinated motion control in swarm robotics aims to ensure the coherence of members in space, i.e., the robots in a swarm perform coordinated movements to maintain spatial structures. This problem can be modeled as a tracking control…

This paper deals with distributed control of microgrids composed of storages, generators, renewable energy sources, critical and controllable loads. We consider a stochastic formulation of the optimal control problem associated to the…

In this paper we provide a rigorous convergence analysis for the renowned particle swarm optimization method by using tools from stochastic calculus and the analysis of partial differential equations. Based on a time-continuous formulation…

There is now experimental evidence that nearest-neighbour interactions in flocks of birds are metric free, i.e. they have no characteristic interaction length scale. However, models that involve interactions between neighbours that are…

Swarm robot systems, which consist of many cooperating mobile robots, have attracted attention for their environmental adaptability and fault tolerance advantages. One of the most important tasks for such systems is coverage control, in…

Any strategy used to distribute a robot ensemble over a set of sequential tasks is subject to inaccuracy due to robot-level uncertainties and environmental influences on the robots' behavior. We approach the problem of inaccuracy during…

Complex social systems are composed of interconnected individuals whose interactions result in group behaviors. Optimal control of a real-world complex system has many applications, including road traffic management, epidemic prevention,…

This work establishes a general stochastic maximum principle for partially observed optimal control of semi-linear stochastic partial differential equations in a nonconvex control domain. The state evolves in a Hilbert space driven by a…

Signal source seeking using autonomous vehicles is a complex problem. The complexity increases manifold when signal intensities captured by physical sensors onboard are noisy and unreliable. Added to the fact that signal strength decays…

Non-smooth dynamics driven by stochastic disturbance arise in a wide variety of engineering problems. Impulsive interventions are often employed to control stochastic systems; however, the modeling and analysis subject to execution delay…

This paper is interested in the description of the density of particles evolving according to some optimal policy of an impulse control problem. We first fix sets on which the particles jump and explain how we can characterize such a…

We introduce a new and efficient numerical method for multicriterion optimal control and single criterion optimal control under integral constraints. The approach is based on extending the state space to include information on a "budget"…

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…

Collective decision-making is an essential capability of large-scale multi-robot systems to establish autonomy on the swarm level. A large portion of literature on collective decision-making in swarm robotics focuses on discrete decisions…

In this paper we are concerned with the simulation of crowds in built environments, where obstacles play a role in the dynamics and in the interactions among pedestrians. First of all, we review the state-of-the-art of the techniques for…

The intracellular transport process plays an important role in delivering essential materials throughout branched geometries of neurons for their survival and function. Many neurodegenerative diseases have been associated with the…

Robot swarms hold immense potential for performing complex tasks far beyond the capabilities of individual robots. However, the challenge in unleashing this potential is the robots' limited sensory capabilities, which hinder their ability…

We study the problem of reducing the amount of communication in decentralized target tracking. We focus on the scenario where a team of robots are allowed to move on the boundary of the environment. Their goal is to seek a formation so as…

In this paper, we design algorithms to protect swarm-robotics applications against sensor denial-of-service (DoS) attacks on robots. We focus on applications requiring the robots to jointly select actions, e.g., which trajectory to follow,…