Related papers: Thermodynamic Cucker-Smale ensemble with unit spee…
A Collision-Avoiding flocking particle system proposed in [8] is studied in this paper. The global wellposedness of its corresponding Vlasov-type kinetic equation is proved. As a corollary of the global stability result, the mean field…
We propose a general statistical mechanics framework for the collective motion of animals. The framework considers the principle of maximum entropy, the interaction, boundary, and desire effects, as well as the time-delay effect. These…
We present a stochastic version of the Cucker-Smale flocking dynamics based on a markovian $N$-particle system of pair interactions with unbounded and, in general, non-Lipschitz continuous interaction potential. We establish the infinite…
We prove the existence of weak solutions to kinetic flocking model with cut-off interaction function by using Schauder fixed pointed theorem and velocity averaging lemma. Under the natural assumption that the velocity support of the initial…
We present an active control scheme of a kinetic model of swarming. It has been shown previously that the global control scheme for the model, presented in \cite{JK04}, gives rise to spontaneous collective organization of agents into a…
We present a general framework for modeling a wide selection of flocking scenarios under free boundary conditions. Several variants have been considered - including examples for the widely observed behavior of hierarchically interacting…
Coordinated collective motion in bird flocks and fish schools inspires algorithms for cohesive swarm robotics. This paper presents a position-based flocking model that achieves persistent velocity alignment without velocity sensing. By…
We present a fully distributed collision avoidance algorithm based on convex optimization for a team of mobile robots. This method addresses the practical case in which agents sense each other via measurements from noisy on-board sensors…
In this paper, we revisit an interaction problem of two homogeneous Cucker-Smale (in short C-S) ensembles with attractive-repulsive couplings, possibly under the effect of Rayleigh friction, and study three sufficient frameworks leading to…
Currently, the general aim of flocking and formation control laws for multi-agent systems is to form and maintain a rigid configuration, such as, the alpha-lattices in flocking control methods, where the desired distance between each pair…
We introduce a system of self-propelled agents (active Brownian particles) with velocity alignment in two spatial dimensions and derive a mean-field theory from the microscopic dynamics via a nonlinear Fokker-Planck equation and a moment…
A simple model of the two dimensional collective motion of a group of mobile agents have been studied. Like birds, these agents travel in open free space where each of them interacts with the first $n$ neighbors determined by the…
This paper presents a unified mathematical theory of swarms where the dynamics of social behaviors interacts with the mechanical dynamics of self-propelled particles. The term behavioral swarms is introduced to characterize the specific…
In this paper, we consider a multi-agent system consisting of mobile agents with second-order dynamics. The communication network is determined by the so-called topological interaction rule: agents interact with a fixed number of their…
We introduce a Vicsek-like flocking model with a minimal form of time-delayed orientational interactions, in which the delays occur on a time scale that is well-separated from other time scales in the model. We achieve this by implementing…
A decentralized feedback controller for multi-agent systems, inspired by vehicle platooning, is proposed. The closed loop resulting from the decentralized control action has three distinctive features: the generation of collision-free…
In this paper, we study the behavior of systems of individuals in confined environments that are driven by laws of self-organization. We propose that, under certain conditions, the long-term behavior of such systems will be global…
This paper addresses the problem of cooperative transportation of an object rigidly grasped by $N$ robotic agents. In particular, we propose a Nonlinear Model Predictive Control (NMPC) scheme that guarantees the navigation of the object to…
We consider a compressible Euler system with singular velocity alignment, known as the Euler-alignment system, describing the flocking behaviors of large animal groups. We establish a local well-posedness theory for the system, as well as a…
Collective movement is observed widely in nature, where individuals interact locally to produce globally ordered, coherent motion. In typical models of collective motion, each individual takes the average direction of multiple neighbors,…