Related papers: Single file motion of robot swarms
This paper presents an approach to externally influencing a team of robots by means of time-varying density functions. These density functions represent rough references for where the robots should be located. To this end, a continuous-time…
A new single lane car following model of traffic flow is presented. The model is inertial and free of collisions. It demonstrates experimentally observed features of traffic flow such as the existence of three regimes: free, fluctuative…
This study investigates the complex dynamic interactions between two typed populations coexisting within a shared space. We propose both theoretical and numerical study to analyze scenarios where one population (population $1$) must…
Swarms of autonomous surface vehicles equipped with environmental sensors and decentralized communications bring a new wave of attractive possibilities for the monitoring of dynamic features in oceans and other waterbodies. However, a key…
We present a model of traffic flow, with rules that describe the behaviour of automated vehicles in an open system. We show first of all that the fundamental diagram of this system collapses to a point, where states of free and jammed…
Natural groups of animals, such as swarms of social insects, exhibit astonishing degrees of task specialization, useful to address complex tasks and to survive. This is supported by phenotypic plasticity: individuals sharing the same…
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…
This paper investigates efficient techniques to collect and concentrate an under-actuated particle swarm despite obstacles. Concentrating a swarm of particles is of critical importance in health-care for targeted drug delivery, where…
Collective animal behaviors are paradigmatic examples of fully decentralized operations involving complex collective computations such as collective turns in flocks of birds or collective harvesting by ants. These systems offer a unique…
In densely populated environments, socially compliant navigation is critical for autonomous robots as driving close to people is unavoidable. This manner of social navigation is challenging given the constraints of human comfort and social…
In order to develop a toy model for car's traffic in cities, in this paper we analyze, by means of numerical simulations, the transition among fluid regimes and a congested jammed phase of the flow of "kinetically constrained" hard spheres…
Social organisms which construct nests consisting of tunnels and chambers necessarily navigate confined and crowded conditions. Unlike low-density collectives like bird flocks and insect swarms, in which hydrodynamic and statistical…
Synthetic active collectives, composed of many nonliving individuals capable of cooperative changes in group shape and dynamics, hold promise for practical applications and for the elucidation of guiding principles of natural collectives.…
In this article, we propose a traffic rule inspired from nature, that facilitates an elite agent to move efficiently through a crowd of inert agents. When an object swims in a fluid medium or an intruder is forced through granular matter,…
We investigate the collective dynamics of self-propelled particles able to probe and anticipate the orientation of their neighbors. We show that a simple anticipation strategy hinders the emergence of homogeneous flocking patterns. Yet,…
Traffic congestion is a persistent problem in our society. Previous methods for traffic control have proven futile in alleviating current congestion levels leading researchers to explore ideas with robot vehicles given the increased…
The biologically-inspired swarm paradigm is being used to design self-organizing systems of locally interacting artificial agents. A major difficulty in designing swarms with desired characteristics is understanding the causal relation…
We propose a simple adaptive-network model describing recent swarming experiments. Exploiting an analogy with human decision making, we capture the dynamics of the model by a low-dimensional system of equations permitting analytical…
We derive from first principles a three-dimensional theory of self-propelled particle swarming in a viscous fluid environment. Our model predicts emergent collective behavior that depends critically on fluid opacity, mechanism of…
We propose a novel computational method to extract information about interactions among individuals with different behavioral states in a biological collective from ordinary video recordings. Assuming that individuals are acting as finite…