Related papers: Shepherding control and herdability in complex mul…
In the present paper we deal with an optimal control problem related to a model in population dynamics; more precisely, the goal is to modify the behavior of a given density of individuals via another population of agents interacting with…
Herding, where investors imitate others' decisions rather than relying on their own analysis, is a prevalent phenomenon in financial markets. Excessive herding distorts rational decisions, amplifies volatility, and can be exploited by…
Collective migration of cells and animals often relies on a specialised set of "leaders", whose role is to steer a population of naive followers towards some target. We formulate a continuous model to understand the dynamics and structure…
The analysis and control of large-population systems is of great interest to diverse areas of research and engineering, ranging from epidemiology over robotic swarms to economics and finance. An increasingly popular and effective approach…
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…
Flocking behavior of multiple agents can be widely observed in nature such as schooling fish and flocking birds. Recent literature has proposed the possibility that flocking is possible even only a small fraction of agents are informed of…
This paper presents a novel control strategy to herd groups of non-cooperative evaders by means of a team of robotic herders. In herding problems, the motion of the evaders is typically determined by strongly nonlinear and heterogeneous…
Controlling multi-agent systems is a persistent challenge in organismal, robotic and social collectives, especially when agents exhibit stochastic indecisiveness -- frequently switching between conflicting behavioral rules. Here, we…
We consider the notion of herdability, a set-based reachability condition, which asks whether the state of a system can be controlled to be element-wise larger than a non-negative threshold. First a number of foundational results on…
In this paper, we consider the problem of protecting a high-value unit from inadvertent attack by a group of agents using defending robots. Specifically, we develop a control strategy for the defending agents that we call "dog robots" to…
This paper considers the notion of herdability, a set-based reachability condition, which asks whether the state of a system can be controlled to be element-wise larger than a non-negative threshold. The basic theory of herdable systems is…
Resource allocation takes place in various kinds of real-world complex systems, such as the traffic systems, social services institutions or organizations, or even the ecosystems. The fundamental principle underlying complex…
Controlling large particle systems in collective dynamics by a few agents is a subject of high practical importance, e.g., in evacuation dynamics. In this paper we study an instantaneous control approach to steer an interacting particle…
Recent advancements in Large Language Models (LLMs) have enabled the emergence of multi-agent systems where LLMs interact, collaborate, and make decisions in shared environments. While individual model behavior has been extensively studied,…
This paper solves the problem of herding countless evaders by means of a few robots. The objective is to steer all the evaders towards a desired tracking reference while avoiding escapes. The problem is very challenging due to the highly…
Shepherding involves herding a swarm of agents (\emph{sheep}) by another a control agent (\emph{sheepdog}) towards a goal. Multiple approaches have been documented in the literature to model this behaviour. In this paper, we present a…
In this paper we are concerned with multiscale modeling, control, and simulation of self-organizing agents leaving an unknown area under limited visibility, with special emphasis on crowds. We first introduce a new microscopic model…
Flocking is a coordinated collective behavior that results from local sensing between individual agents that have a tendency to orient towards each other. Flocking is common among animal groups and might also be useful in robotic swarms. In…
In this paper we investigate a relaxed concept of controllability, known in the literature as herdability, namely the capability of a system to be driven towards the(interior of the) positive orthant. Specifically, we investigate…
This paper asks a new question: how can we control the collective behavior of self-organized multi-agent systems? We try to answer the question by proposing a new notion called 'Soft Control', which keeps the local rule of the existing…