Related papers: Bearing-Distance Flocking with Zone-Based Interact…
Flocking control is a challenging problem, where multiple agents, such as drones or vehicles, need to reach a target position while maintaining the flock and avoiding collisions with obstacles and collisions among agents in the environment.…
The question how social norms can emerge from microscopic interactions between individuals is a key problem in social sciences to explain collective behavior. In this paper we propose an agent-based model to show that randomly distributed…
In this paper we are concerned with multiscale modeling, control, and simulation of self-organizing agents leaving an unknown area under limited visibility, with special emphasis on crowds. We first introduce a new microscopic model…
The problem of distributed control and estimation for multi-agent systems with limited sensing capabilities is a practical challenge motivated by incomplete and imperfect sensing. This article addresses an important case where each agent in…
We develop an agent-based model on a lattice to investigate territorial development motivated by markings such as graffiti, generalizing a previously-published model to account for $K$ groups instead of two groups. We then analyze this…
The flock-guidance problem enjoys a challenging structure where multiple optimization objectives are solved simultaneously. This usually necessitates different control approaches to tackle various objectives, such as guidance, collision…
In multi-robot systems (MRS), cooperative localization is a crucial task for enhancing system robustness and scalability, especially in GPS-denied or communication-limited environments. However, adversarial attacks, such as sensor…
Flocking is a very challenging problem in a multi-agent system; traditional flocking methods also require complete knowledge of the environment and a precise model for control. In this paper, we propose Evolutionary Multi-Agent…
In this paper we consider the problem of controlling the dynamic behavior of a multi-robot system while interacting with the environment. In particular, we propose a general methodology that, by means of locally scaling inter-robot coupling…
Formation control with the flocking approach is an efficient method that can reach the formation without determining the agent's position. This paper focuses on reaching the circular formation around the leader or target with a specific…
The study of motion in animals and robots has been aided by insights from geometric mechanics. In friction dominated systems, a mechanical "connection" can provide a high fidelity mechanical model. The connection is a co-vector (Lie…
In this paper, we present a solution to a design problem of control strategies for multi-agent cooperative transport. Although existing learning-based methods assume that the number of agents is the same as that in the training environment,…
This paper addresses the leader-follower flocking problem with a moving leader for networked Lagrange systems with parametric uncertainties under a proximity graph. Here a group of followers move cohesively with the moving leader to…
In multi-agent systems, agents need to interact and collaborate with other agents in environments. Agent modeling is crucial to facilitate agent interactions and make adaptive cooperation strategies. However, it is challenging for agents to…
Collective behavior in animals has long been modeled through self-propelled particle models, which reproduce striking group-level phenomena through abstract interaction forces. Yet these models are fundamentally descriptive: they leave open…
This paper studies robust tracking control for a leader-follower multi-agent system (MAS) subject to disturbances. A challenging problem is considered here, which differs from those in the literature in two aspects. First, we consider the…
Optimal control of large particle systems with collective dynamics by few agents is a subject of high practical importance (e.g. in evacuation dynamics), but still limited mathematical basis. In particular the transition from discrete…
Modelling pedestrian-driver interactions is critical for understanding human road user behaviour and developing safe autonomous vehicle systems. Existing approaches often rely on rule-based logic, game-theoretic models, or 'black-box'…
Collective motion - or flocking - is an emergent phenomena that underlies many biological processes of relevance, from cellular migrations to animal groups movement. In this work, we derive scaling relations for the fluctuations of the mean…
A Collision-Avoiding flocking particle system proposed in [8] is studied in this paper. The global wellposedness of its corresponding Vlasov-type kinetic equation is proved. As a corollary of the global stability result, the mean field…