Related papers: Body-attitude coordination in arbitrary dimension
The self-organized kinetic system for body attitude coordination (SOKB) was recently derived by Degond et al. (Math. Models Methods Appl. Sci. 27(6), 1005-1049, 2017). This system describe a new collective motion for multi-agents dynamics,…
We consider self-propelled rigid-bodies interacting through local body-attitude alignment modelled by stochastic differential equations. We derive a hydrodynamic model of this system at large spatio-temporal scales and particle numbers in…
We present a new model for multi-agent dynamics where each agent is described by its position and body attitude: agents travel at a constant speed in a given direction and their body can rotate around it adopting different configurations.…
We consider an interacting particle system proposed in the literature to model fish behavior. In this model, the agents move at constant speed and control the curvature of their trajectory (i.e. the time-derivative of their velocity) so as…
In this paper, we review recent developments on the derivation and properties of macroscopic models of collective motion and self-organization. The starting point is a model of self-propelled particles interacting with its neighbors through…
In this article we investigate the phase transition phenomena that occur in a model of self-organisation through body-attitude coordination. Here, the body-attitude of an agent is modelled by a rotation matrix in $\mathbb{R}^3$ as in…
This paper presents a new geometric adaptive control system with state inequality constraints for the attitude dynamics of a rigid body. The control system is designed such that the desired attitude is asymptotically stabilized, while the…
We measure hydrodynamic interactions between colloidal particles confined in a thin sheet of fluid. The reduced dimensionality, compared to a bulk fluid, increases dramatically the range of couplings. Using optical tweezers we force a two…
We study the hydrodynamic behavior of three dimensional (3D) incompressible collections of self-propelled entities in contact with a momentum sink in a state with non-zero average velocity, hereafter called 3D easy-plane incompressible…
This paper presents a new geometric adaptive control system with state inequality constraints for the attitude dynamics of a rigid body. The control system is designed such that the desired attitude is asymptotically stabilized, while the…
This paper addresses the distributed attitude synchronization problem for a network of rigid-body systems on the special orthogonal group SO(3). Each agent measures, in its body frame, its own angular velocity and a set of vectors whose…
The attitude tracking problem for a full-actuated rigid body in 3D is studied using a impulsive system model based on Lie algebra so(3). A nonlinear homogeneous controller is designed to globally track a smooth attitude trajectory in a…
When a team of agents, such as unmanned aerial/underwater vehicles, are operating in $3$-dimensional space, their coordinated action in pursuit of a cooperative task generally requires all agents to either share a common coordinate system…
This paper is concerned with the derivation and analysis of hydrodynamic models for systems of self-propelled particles subject to alignment interaction and attraction-repulsion. The starting point is the kinetic model considered in earlier…
We introduce a model of multi-agent dynamics for self-organised motion; individuals travel at a constant speed while trying to adopt the averaged body attitude of their neighbours. The body attitudes are represented through unitary…
In this paper, we address the problem of attitude synchronization for a group of rigid body systems evolving on SO(3). The interaction among these systems is modeled through an undirected, connected, and acyclic graph topology. First, we…
The attitude of a rigid-body in the three dimensional space has a unique and global definition on the Special Orthogonal Group SO (3). This paper gives an overview of the rotation matrix, attitude kinematics and parameterization. The four…
The attitude of a rigid body evolves on the three-dimensional special orthogonal group, and it is often estimated by measuring reference directions, such as gravity or magnetic field, using an onboard sensor. As a single direction…
This paper provides new results for a tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid complexities and…
We consider a hydrodynamic model of swarming behavior derived from the kinetic description of a particle system combining a noisy Cucker-Smale consensus force and self-propulsion. In the large self-propulsion force limit, we provide…