Related papers: Shepherding control and herdability in complex mul…
Controlling large swarms of robotic agents has many challenges including, but not limited to, computational complexity due to the number of agents, uncertainty in the functionality of each agent in the swarm, and uncertainty in the swarm's…
The aim of this work is to define a planner that enables robust legged locomotion for complex multi-agent systems consisting of several holonomically constrained quadrupeds. To this end, we employ a methodology based on behavioral systems…
We consider the problem of steering a multi-agent system to multi-consensus, namely a regime where groups of agents agree on a given value which may be different from group to group. We first address the problem by using distributed…
Consider a flock of birds that fly interacting between them. The interactions are modelled through a hierarchical system in which each bird, at each time step, adjusts its own velocity according to his past velocity and a weighted mean of…
Here we consider the communications tactics appropriate for a group of agents that need to "swarm" together in a highly adversarial environment. Specfically, whilst they need to cooperate by exchanging information with each other about…
We investigate the stability and robustness properties of a continuification-based strategy for the control of large-scale multiagent systems. Within continuation-based strategy, one transforms the microscopic, agent-level description of…
Contemporary swarm indicators are often used in isolation, focused on extracting information at the individual or collective levels. Consequently, these are seldom integrated to infer a top-level operating picture of the swarm, its members,…
Individual choices are either based on personal experience or on information provided by peers. The latter case, causes individuals to conform to the majority in their neighborhood. Such herding behavior may be very efficient in aggregating…
Social foraging is a widespread form of animal foraging in which groups of individuals coordinate their decisions to exploit resources in the environment. Animals show a variety of social structures from egalitarian to hierarchical. In this…
A class of heterogeneous agent models is investigated where investors switch trading position whenever their motivation to do so exceeds some critical threshold. These motivations can be psychological in nature or reflect behaviour…
In this paper, we consider a hierarchical control problem with model uncertainty. Specifically, we consider the following objectives that we would like to accomplish. The first one being of a controllability-type that consists of…
This paper considers the problem of steering a vast group of agents of which the dynamics are governed by a discrete-time first-order linear system. The group of agents are characterized as a probability density function and an occupation…
Limited information availability represents a fundamental challenge for control of multi-agent systems, since an agent often lacks sensing capabilities to measure certain states of its own and can exchange data only with its neighbors. The…
Observing and controlling complex networks are of paramount interest for understanding complex physical, biological and technological systems. Recent studies have made important advances in identifying sensor or driver nodes, through which…
We investigate the application of a multi-objective genetic algorithm to the problem of task allocation in a self-organizing, decentralized, threshold-based swarm. Each agent in our system is capable of performing four tasks with a response…
This paper studies the tracking control problem of networked multi-agent systems under both multiple networks and event-triggered mechanisms. Multiple networks are to connect multiple agents and reference systems with decentralized…
The increasing complexity and interconnectedness of systems across various fields have led to a growing interest in studying complex networks, particularly Scale-Free (SF) networks, which best model real-world systems. This paper…
In this paper, we consider a population of individuals who have actions and opinions, which coevolve, mutually influencing one another on a complex network structure. In particular, we formulate a control problem for this social network, in…
In both animal and cell populations, the presence of leaders often underlies the success of collective migration processes, which we characterise by a group maintaining a cohesive configuration that consistently moves toward a target. We…
Large scale systems are forecasted to greatly impact our future lives thanks to their wide ranging applications including cooperative robotics, mobility on demand, resource allocation, supply chain management. While technological…