Related papers: Bearing-Distance Flocking with Zone-Based Interact…

We consider the problem of tracking a group of mobile nodes with limited available computational and energy resources given noisy RSSI measurements and position estimates from group members. The multilateration solutions are known for…

In this work, we present solutions to the flocking and target interception problems of multiple nonholonomic unicycle-type robots using the distance-based framework. The control laws are designed at the kinematic level and are based on the…

This study proposes a distributed algorithm that makes agents' adaptive grouping entrap multiple targets via automatic decision making, smooth flocking, and well-distributed entrapping. Agents make their own decisions about which targets to…

Collective animal movement fascinates children and scientists alike. One of the most commonly given explanations for collective animal movement is improved foraging. Animals are hypothesized to gain from searching for food in groups. Here,…

This paper addresses the problem of collaborative formation control for multi-agent systems with limited resources. We consider a team of robots tasked with achieving a desired formation from an arbitrary initial configuration. To reduce…

Field theories for complex systems traditionally focus on collective behaviors emerging from simple, reciprocal pairwise interaction rules. However, many natural and artificial systems exhibit behaviors driven by microscopic decision-making…

Drawing inspiration from flight behavior in biological settings (e.g. territorial battles in dragonflies, and flocking in starlings), this paper demonstrates two strategies for coverage and flocking. Using earlier theoretical studies on…

Controlling large particle systems in collective dynamics by a few agents is a subject of high practical importance, e.g., in evacuation dynamics. In this paper we study an instantaneous control approach to steer an interacting particle…

We investigate a Cucker-Smale-type flocking model for multi-agent systems that move with constant speed. The model incorporates both kinematic observables and internal energy (temperatures) in the agents' interactions. Traditionally,…

We present a reinforcement learning strategy for use in multi-agent foraging systems in which the learning is centralised to a single agent and its model is periodically disseminated among the population of non-learning agents. In a domain…

In this paper, we investigate the fixed-time behavioral control problem for a team of second-order nonlinear agents, aiming to achieve a desired formation with collision/obstacle~avoidance. In the proposed approach, the two behaviors(tasks)…

We study the formation control problem for a group of mobile agents in a plane, in which each agent is modeled as a kinematic point and can only use the local measurements in its local frame. The agents are required to maintain a geometric…

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…

UAV collective motion has become a hot research topic in recent years. The realization of UAV collective motion, however, relied heavily on centralized control method and suffered from instability. Inspired by bird flocking theory, a…

In this letter, we present a distributed algorithm for flocking in complex environments that operates at constant altitude, without explicit communication, no a priori information about the environment, and by using only on-board sensing…

Multi-agent formation as well as obstacle avoidance is one of the most actively studied topics in the field of multi-agent systems. Although some classic controllers like model predictive control (MPC) and fuzzy control achieve a certain…

Collaborating teams of robots show promise due in their ability to complete missions more efficiently and with improved robustness, attributes that are particularly useful for systems operating in marine environments. A key issue is how to…

The problem of guiding a flock of agents to a destination by the repulsion forces exerted by a smaller number of external agents is called the shepherding problem. This problem has attracted attention due to its potential applications,…

Collective movement is observed widely in nature, where individuals interact locally to produce globally ordered, coherent motion. In typical models of collective motion, each individual takes the average direction of multiple neighbors,…

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…