Related papers: Learning Swarm Interaction Dynamics from Density E…
This paper presents a data-driven approach to learning vision-based collective behavior from a simple flocking algorithm. We simulate a swarm of quadrotor drones and formulate the controller as a regression problem in which we generate 3D…
Computational swarm intelligence consists of multiple artificial simple agents exchanging information while exploring a search space. Despite a rich literature in the field, with works improving old approaches and proposing new ones, the…
Swarm intelligence is a research field that models the collective behavior in swarms of insects or animals. Several algorithms arising from such models have been proposed to solve a wide range of complex optimization problems. In this…
Collective animal behaviors are paradigmatic examples of fully decentralized operations involving complex collective computations such as collective turns in flocks of birds or collective harvesting by ants. These systems offer a unique…
Evolutionary game theory has been successfully used to investigate the dynamics of systems, in which many entities have competitive interactions. From a physics point of view, it is interesting to study conditions under which a coordination…
This paper introduces a novel bio-mimetic approach for distributed control of robotic swarms, inspired by the collective behaviors of swarms in nature such as schools of fish and flocks of birds. The agents are assumed to have limited…
Emergence and emergent behaviors are often defined as cases where changes in local interactions between agents at a lower level effectively changes what occurs in the higher level of the system (i.e., the whole swarm) and its properties.…
The internal behaviour of a population is an important feature to take account of when modelling their dynamics. In line with kin selection theory, many social species tend to cluster into distinct groups in order to enhance their overall…
Decentralized drone swarms deployed today either rely on sharing of positions among agents or detecting swarm members with the help of visual markers. This work proposes an entirely visual approach to coordinate markerless drone swarms…
In this paper we consider a continuous-time anisotropic swarm model with an attraction/repulsion function and study its aggregation properties. It is shown that the swarm members will aggregate and eventually form a cohesive cluster of…
We present a set of metrics intended to supplement designer intuitions when designing swarm-robotic systems, increase accuracy in extrapolating swarm behavior from algorithmic descriptions and small test experiments, and lead to faster and…
In this paper, we present an approach for dynamic exploration and mapping of unknown environments using a swarm of biobotic sensing agents, with a stochastic natural motion model and a leading agent (e.g., an unmanned aerial vehicle). The…
We develop the theory of canonical-dissipative systems, based on the assumption that both the conservative and the dissipative elements of the dynamics are determined by invariants of motion. In this case, known solutions for conservative…
Collective motion in animal groups, such as swarms of insects, flocks of birds, and schools of fish, are some of the most visually striking examples of emergent behavior. Empirical analysis of these behaviors in experiment or computational…
We conduct an empirical study on discovering the ordered collective dynamics obtained by a population of intelligence agents, driven by million-agent reinforcement learning. Our intention is to put intelligent agents into a simulated…
We classify and predict the asymptotic dynamics of a class of swarming models. The model consists of a conservation equation in one dimension describing the movement of a population density field. The velocity is found by convolving the…
We study the long-time hydrodynamic behavior of systems of multi-species which arise from agent-based description of alignment dynamics. The interaction between species is governed by an array of symmetric communication kernels. We prove…
In this article, we investigate symmetry properties of distributed systems of mobile robots. We consider a swarm of $n\in\mathbb{N}$ robots in the $\mathcal{OBLOT}$ model and analyze their collective $\mathcal{F}$sync dynamics using of…
Easily accessible sensors, like drones with diverse onboard sensors, have greatly expanded studying animal behavior in natural environments. Yet, analyzing vast, unlabeled video data, often spanning hours, remains a challenge for machine…
We provide a bird's eye view on developments in analyzing the long time, large crowd behavior of Cucker-Smale alignment dynamics. We consider a class of (fully-)discrete models, paying particular attention to general alignment protocols in…