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This paper revisits a well studied leader-following consensus problem of linear multi-agent systems, while aiming at follower nodes' transient performance. Conventionally, when not all follower nodes have access to the leader's state…
In this paper, we consider a mean field game model inspired by crowd motion in which several interacting populations evolving in $\mathbb R^d$ aim at reaching given target sets in minimal time. The movement of each agent is described by a…
This paper addresses the problem of autonomous robot navigation in unknown, obstacle-filled environments with second-order dynamics by proposing a Dissipative Avoidance Feedback (DAF). Compared to the Artificial Potential Field (APF), which…
The collection of active agents often exhibits intriguing statistical and dynamical properties, particularly when considering human crowds. In this study, we have developed a computational model to simulate the recent experiment on real…
The agent-based modelling community has a debate on how ``intelligent'' artificial agents should be, and in what ways their local intelligence relates to the emergence of a collective intelligence. I approach this debate by endowing the…
Cyclic pursuit frameworks, which are built upon pursuit interactions between neighboring agents in a cycle graph, provide an efficient way to create useful global behaviors in a collective of autonomous robots. Previous work had considered…
Reliability is a critical aspect of multi-agent system coordination as it ensures that the system functions correctly and consistently. If one agent in the system fails or behaves unexpectedly, it can negatively impact the performance and…
Human driver participation is a critical source of uncertainty in Mobility-on-Demand (MoD) rebalancing. Drivers follow platform recommendations probabilistically, and their willingness to comply evolves with experienced outcomes. This…
This paper investigates the robust stabilisation of a class of fractional-order non-linear systems via fixed-order dynamic output feedback controller in terms of linear matrix inequalities (LMIs). The systematic stabilisation algorithm…
Collective migration of animals in a cohesive group is rendered possible by a strategic distribution of tasks among members: some track the travel route, which is time and energy-consuming, while the others follow the group by interacting…
Fast reactions to changes in the surrounding visual environment require efficient attention mechanisms to reallocate computational resources to most relevant locations in the visual field. While current computational models keep improving…
We prove the existence of traveling fronts in diffusive Rosenzweig-MacArthur and Holling-Tanner population models and investigate their relation with fronts in a scalar Fisher-KPP equation. More precisely, we prove the existence of fronts…
In dynamic flow fields, various animals exhibit remarkable odor search capabilities despite relying on stochastic detections. Interestingly, there exists an optimal time window for integrating these detections that maximizes search…
We study resilient leader-follower consensus of multi-agent systems (MASs) in the presence of adversarial agents, where agents' communication is modeled by time-varying topologies. The objective is to develop distributed algorithms for the…
New results on the behaviour of the fast motion in slow-fast systems of ODEs with dependence on the fast time are given in terms of tracking of nonautonomous attractors. Under quite general assumptions, including the uniform ultimate…
We present a multiple-person tracking algorithm, based on combining particle filters and RVO, an agent-based crowd model that infers collision-free velocities so as to predict pedestrian's motion. In addition to position and velocity, our…
Asymptotic-in-time feedback control of a panel interacting with an inviscid, subsonic flow is considered. The classical model [22] is given by a clamped nonlinear plate strongly coupled to a convected wave equation on the half space. In the…
This work presents an innovative learning-based approach to tackle the tracking control problem of Euler-Lagrange multi-agent systems with partially unknown dynamics operating under switching communication topologies. The approach leverages…
We posit a new mechanism for cooperation in multi-agent reinforcement learning (MARL) based upon any nonlinear function of the team's long-term state-action occupancy measure, i.e., a \emph{general utility}. This subsumes the cumulative…
We consider an unsupervised classifying agent that evolves by enforcing self-consistency of its labels under continual exposure to a data-generating environment. Because the agent's predictions feed back into its own regularized updates,…