Related papers: Energy-efficient flocking with nonlinear navigatio…
We consider several modifications of the Euler system of fluid dynamics including its pressureless variant driven by non-local interaction repulsive-attractive and alignment forces in the space dimension $N=2,3$. These models arise in the…
For robots to be a part of our daily life, they need to be able to navigate among crowds not only safely but also in a socially compliant fashion. This is a challenging problem because humans tend to navigate by implicitly cooperating with…
In this work we introduce an approach for modeling and analyzing collective behavior of a group of agents using moments. We represent the group of agents via their distribution and derive a method to estimate the dynamics of the moments. We…
A challenge in reinforcement learning (RL) is minimizing the cost of sampling associated with exploration. Distributed exploration reduces sampling complexity in multi-agent RL (MARL). We investigate the benefits to performance in MARL when…
Particle dynamics and multi-agent systems provide accurate dynamical models for studying and forecasting the behavior of complex interacting systems. They often take the form of a high-dimensional system of differential equations…
This paper investigates the impact of bounded actuation on the connectivity-preserving consensus of two classes of multi-agent systems, with kinematic agents and with Euler- Lagrange agents. The investigation establishes that: (1) there…
In this paper, we consider a first-order mean field game model motivated by crowd motion in which agents evolve in a (not necessarily compact) metric space and wish to reach a given target set. Each agent aims to minimize the sum of their…
Within a Lagrangian formalism we derive the time-dependent Gutzwiller approximation for general multi-band Hubbard models. Our approach explicitly incorporates the coupling between time-dependent variational parameters and a time-dependent…
Dynamical systems can be used to model a broad class of physical processes, and conservation laws give rise to system properties like passivity or port-Hamiltonian structure. An important problem in practical applications is to steer…
In this paper consensus in second-order multi-agent systems with a non-periodic sampled-data exchange among agents is investigated. The sampling is random with bounded inter-sampling intervals. It is assumed that each agent has exact…
Collaborative multi-agent exploration of unknown environments is crucial for search and rescue operations. Effective real-world deployment must address challenges such as limited inter-agent communication and static and dynamic obstacles.…
The paper is devoted to a design of a common bounded feedback control steering a system of an arbitrary number of linear oscillators to the equilibrium. At high energies, the control is based on the asymptotic theory of reachable sets of…
We propose a model predictive control (MPC) based approach to a flock control problem with obstacle avoidance capability in a leader-follower framework, utilizing the future trajectory prediction computed by each agent. We employ the…
Many high-performance human activities are executed with little or no external feedback: think of a figure skater landing a triple jump, a pitcher throwing a curveball for a strike, or a barista pouring latte art. To study the process of…
In multi-agent navigation, agents need to move towards their goal locations while avoiding collisions with other agents and static obstacles, often without communication with each other. Existing methods compute motions that are optimal…
We present a sufficient condition of the complete position flocking theorem for the Cucker-Smale type model on the unit sphere with an inter-particle bonding force. For this second order dynamical system derived in [Choi, S.-H., Kwon, D.…
Flocking control is a significant problem in multi-agent systems such as multi-agent unmanned aerial vehicles and multi-agent autonomous underwater vehicles, which enhances the cooperativity and safety of agents. In contrast to traditional…
Following the paradigm set by attraction-repulsion-alignment schemes, a myriad of individual based models have been proposed to calculate the evolution of abstract agents. While the emergent features of many agent systems have been…
This tutorial article puts forth a framework to analyze the noncooperative strategic interactions among the members of a large population of bounded rationality agents. Our approach hinges on, unifies and generalizes existing methods and…
We study the Cucker-Smale model with a velocity control function. The Cucker-Smale model design the emergence of consensus in terms of flocking. A proposed model encompasses several Cucker-Smale models, such as a speed limit model, a…