Related papers: Flocking control against the malicious agent
One of the most striking phenomena in biological systems is the tendency for biological agents to spatially aggregate, and subsequently display further collective behaviours such as rotational motion. One prominent explanation for why…
In formation control, an ensemble of autonomous agents is required to stabilize at a given configuration in the plane, doing so while agents are allowed to observe only a subset of the ensemble. As such, formation control provides a rich…
We study facility location problems where agents control multiple locations and when reporting their locations can choose to hide some locations (hiding), report some locations more than once (replication) and lie about their locations…
Natural flocks (aligned) and swarms (non-aligned) both exhibit features of near-criticality, challenging their treatment as two ends of the same phase transition. We present a model for the aggregation of active individuals, in which their…
This paper focuses on coordinating a robot swarm orbiting a convex path without collisions among the individuals. The individual robots lack braking capabilities and can only adjust their courses while maintaining their constant but…
Flocking is ubiquitous in nature and emerges due to short- or long-range alignment interactions among self-propelled agents. Two unfriendly species that antialign or even interact nonreciprocally show more complex collective phenomena,…
Achieving scalable coordination in large robotic swarms is often constrained by reliance on inter-agent communication, which introduces latency, bandwidth limitations, and vulnerability to failure. To address this gap, a decentralized…
This paper investigates multi-agent frequencybased patrolling of intersecting, circle graphs under conditions where graph nodes have non-uniform visitation requirements and agents have limited ability to communicate. The task is modeled as…
A mean-field selective optimal control problem of multipopulation dynamics via transient leadership is considered. The agents in the system are described by their spatial position and their probability of belonging to a certain population.…
We review a body of recent work by the author and collaborators on controlling the spatial organisation of large agent populations across multiple scales. A central theme is the systematic bridging of microscopic agent-level dynamics and…
Unlike the case with identical neighboring agents whose actions are mirrored, the problem of distributed formation control design with heterogeneous sensing is not straightforward. In this paper, we consider the problem of distributed…
Understanding collective self-organization in active matter, such as bird flocks and fish schools, remains a grand challenge in physics. Interactions that induce alignment are essential for flocking; however, alignment alone is generally…
This paper proposes a novel approach to resilient distributed optimization with quadratic costs in a networked control system (e.g., wireless sensor network, power grid, robotic team) prone to external attacks (e.g., hacking, power outage)…
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…
This paper studies a flocking model in which the interaction between agents is described by a general local nonlinear function depending on the distance between agents.
Swarm guidance addresses a challenging problem considering the navigation and control of a group of passive agents. To solve this problem, shepherding offers a bio-inspired technique of navigating such group of agents by using external…
We introduce and develop the concept of dispersion formation control, bridging a gap between shape-assembly studies in physics and biology and formation control theory. In current formation control studies, the control objectives typically…
Optimization of resource distribution has been a challenging topic in current society. To explore this topic, we develop a Coalition Control Model(CCM) based on the Model Predictive Control(MPC) and test it using a fishing model with linear…
We introduce a model for self-organized dynamics which, we argue, addresses several drawbacks of the celebrated Cucker-Smale (C-S) model. The proposed model does not only take into account the distance between agents, but instead, the…
We present new conditions to obtain synchronization and consensus patterns in complex network systems. The key idea is to exploit symmetries of the nodes' vector fields to induce a desired synchronization/consensus pattern, where nodes are…