Related papers: Energy-efficient flocking with nonlinear navigatio…
This paper addresses the formation maneuver control problem of leader-follower multi-agent systems with high-order integrator dynamics. A distributed output feedback formation maneuver controller is proposed to achieve desired maneuvers so…
We consider fluctuations of the dissipated energy in nonlinear driven diffusive systems subject to bulk dissipation and boundary driving. With this aim, we extend the recently-introduced macroscopic fluctuation theory to nonlinear driven…
The hydrodynamical model of the collective behavior of animals consists of the Euler equation with additional non-local forcing terms representing the repulsive and attractive forces among individuals. This paper deals with the system…
In this work we consider a four compartment Brusselator system. The reaction terms of this system are of non constant sign, thus components of the solution are not bounded apriori, and functional means to derive apriori bounds will fail. We…
An approach of mobile multi-agent pursuit based on application of self-organizing feature map (SOFM) and along with that reinforcement learning based on agent group role membership function (AGRMF) model is proposed. This method promotes…
Using any nonnegative function with a nonpositive derivative along trajectories to define a virtual output, the classic LaSalle invariance principle can be extended to switched nonlinear time-varying (NLTV) systems, by considering the weak…
We address the problem of controlling the density of a large ensemble of follower agents by acting on a group of leader agents that interact with them. Using coupled partial integro-differential equations to describe leader and follower…
The goal of the present work is to propose an agent-based model that originally combines classical Vicsek-like polarity alignments and contact forces, as implemented in the framework developed by Maury and Venel in [Maury, Venel, 2011]. The…
In this paper we present the simplest individual level model of predator-prey dynamics and show, via direct calculation, that it exhibits cycling behavior. The deterministic analogue of our model, recovered when the number of individuals is…
We study the multi-scale description of large-time collective behavior of agents driven by alignment. The resulting multi-flock dynamics arises naturally with realistic initial configurations consisting of multiple spatial scaling, which in…
We propose an agent-based model of active flexible rods. Inspired by cytoskeletal flows, we introduce activity by an internal flow that contributes to the dissipative forces. The active force between our agents is central and reciprocal,…
Cooperative multi-agent reinforcement learning (MARL) under sparse rewards remains fundamentally challenging because agents often fail to concentrate their influence, leading to insufficiently coordinated exploration. To address this, we…
We introduce a Cucker-Smale-type model for flocking, where the strength of interaction between two agents depends on their relative separation (called "topological distance" in previous works), which is the number of intermediate…
For many tasks, multi-robot teams often provide greater efficiency, robustness, and resiliency. However, multi-robot collaboration in real-world scenarios poses a number of major challenges, especially when dynamic robots must balance…
Agent-based modelling is a valuable approach for systems whose behaviour is driven by the interactions between distinct entities. They have shown particular promise as a means of modelling crowds of people in streets, public transport…
A multi-agent model for individuals endowed with strategies and subject to diffusive effects is proposed. The microscopic state of each agent is described by a spatial position and a probability measure, interpreted as a mixed strategy,…
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 propose a dynamic model for a system consisting of self-propelled agents in which the influence of an agent on another agent is weighted by geographical distance. A parameter $\alpha$ is introduced to adjust the influence: the smaller…
This article presents the consensus of a saturated second order multi-agent system with non-switching dynamics that can be represented by a directed graph. The system is affected by data processing (input delay) and communication…
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…