Related papers: Energy-efficient flocking with nonlinear navigatio…
The natural trajectory tracking problem is studied for generic quantum states represented by density operators. A control design based on the Hilbert-Schmidt distance as a Lyapunov function is considered. The control dynamics is redefined…
Animal swarms displaying a variety of typical flocking patterns would not exist without underlying safe, optimal and stable dynamics of the individuals. The emergence of these universal patterns can be efficiently reconstructed with…
We present a new result on uniform attractivity of the origin for nonlinear time-varying systems. Our theorem generalizes Matrosov's theorem which extends, in a certain manner, Krasovskii-LaSalle invariance principle to the case of general…
We study long-time dynamics of a class of abstract second order in time evolution equations in a Hilbert space with the damping term depending both on displacement and velocity. This damping represents the nonlinear strong dissipation…
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…
We study the large time behavior of a system of interacting agents modeling the relaxation of a large swarm of robots, whose task is to uniformly cover a portion of the domain by communicating with each other in terms of their distance. To…
Autonomous vehicles must reason about spatial occlusions in urban environments to ensure safety without being overly cautious. Prior work explored occlusion inference from observed social behaviors of road agents, hence treating people as…
This paper addresses the theoretical foundations of pedestrian models for crowd dynamics. While the topic gains momentum, current models differ widely in their mathematical structure, even if we only consider continuous agent-based models.…
We study a Cucker-Smale-type system with time delay in which agents interact with each other through normalized communication weights. We construct a Lyapunov functional for the system and provide sufficient conditions for asymptotic…
A long-time behavior of solutions to a nonlinear plate model subject to non-conservative and non-dissipative effects and nonlinear damping is considered. The model under study is a prototype for a suspension bridge under the effects of…
Navigation in cluttered underwater environments is challenging, especially when there are constraints on communication and self-localisation. Part of the fully distributed underwater navigation problem has been resolved by introducing…
Through molecular dynamics, we study the $d=2,3$ classical model of $N$ coupled rotators (inertial XY model) assuming a coupling constant which decays with distance as $r_{ij}^{-\alpha}$ ($\alpha \ge 0$). The total energy $<H>$ is…
We study some dynamical properties of a Lorentz gas. We have considered both the static and time dependent boundary. For the static case we have shown that the system has a chaotic component characterized with a positive Lyapunov Exponent.…
We introduce a simple ansatz for the wavefunction of a many-body system based on coupled forward and backward-propagating semiclassical trajectories. This method is primarily aimed at, but not limited to, treating nonequilibrium dynamics in…
The usual Langevin approach to describe systems driven by noise fails to describe the long time behavior of systems with multiple attractors. The solution of the associated linear Fokker-Planck equation is always unique, even though it…
In this paper we address the multi-agent collaborative object transportation problem in a partially known environment with obstacles under a specified goal condition. We propose a leader follower approach for two mobile manipulators…
Simulation models of pedestrian dynamics have become an invaluable tool for evacuation planning. Typically crowds are assumed to stream unidirectionally towards a safe area. Simulated agents avoid collisions through mechanisms that belong…
The design of control systems for the spatial self-organization of mobile agents is an open challenge across several engineering domains, including swarm robotics and synthetic biology. Here, we propose a bio-inspired leader-follower…
Previous results have shown that a large class of complex systems consisting of many interacting heterogeneous phase oscillators exhibit an attracting invariant manifold. This result has enabled reduced analytic system descriptions from…
In a gas transport system, the customer behavior is uncertain. Motivated by this situation, we consider a boundary stabilization problem for the flow through a gas pipeline, where the outflow at one end of the pipe that is governed by the…