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Pushes, falls, stampedes, and crushes are safety hazards that emerge from the collective motion of crowds, but might be avoided by better design and guidance. While pedestrian dynamics are now getting better understood on the whole, complex…
When particles move at a constant speed and have the tendency to align their directions of motion, ordered large scale movement can emerge despite significant levels of noise. Many variants of this model of self-propelled particles have…
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…
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…
Flock Logic was developed as an art and engineering project to explore how the feedback laws used to model flocking translate when applied by dancers. The artistic goal was to create choreographic tools that leverage multi-agent system…
Effective methods of fluid transport vary across scale. A commonly used dimensionless number for quantifying the effective scale of fluid transport is the Reynolds number, Re, which gives the ratio of inertial to viscous forces. What may…
The behaviour of the one--dimensional random--forced Burgers equation is investigated in the path integral formalism, using a discrete space--time lattice. We show that by means of Monte Carlo methods one may evaluate observables, such as…
This work presents a microscopic model to describe pedestrian flows based on the social force theory. The aim of this study is twofold: (1) developing a realistic model that can be used as a tool for designing pedestrian-friendly…
We propose a novel approach to the 'reality gap' problem, i.e., modifying a robot simulation so that its performance becomes more similar to observed real world phenomena. This problem arises whether the simulation is being used by human…
For decades, robotics researchers have pursued various tasks for multi-robot systems, from cooperative manipulation to search and rescue. These tasks are multi-robot extensions of classical robotic tasks and often optimized on dimensions…
We improve a flocking model on street networks introduced in a previous paper. We expand the field of vision of walkers, making the model more realistic. Under such conditions, we obtain groups of walkers whose gathering times and…
Random walks and related spatial stochastic models have been used in a range of application areas including animal and plant ecology, infectious disease epidemiology, developmental biology, wound healing, and oncology. Classical random walk…
Many migratory animals regularly travel thousands of kilometers, exactly finding their destinations. It is assumed that migrants have both a compass sense to hold their course, and a map sense --- a kind of "biological" GPS --- to correct…
Most real life systems have a random component: the multitude of endogenous and exogenous factors influencing them result in stochastic fluctuations of the parameters determining their dynamics. These empirical systems are in many cases…
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,…
In theoretical ecology, models describing the spatial dispersal and the temporal evolution of species having non-overlapping generations are often based on integrodifference equations. For various such applications the environment has an…
In recent years it has become evident the need of understanding how failure of coordination imposes constraints on the size of stable groups that highly social mammals can live in. We examine here the forces that keep animals together as a…
In this paper we introduce and discuss numerical schemes for the approximation of kinetic equations for flocking behavior with phase transitions that incorporate uncertain quantities. This class of schemes here considered make use of a…
We introduce a Cucker-Smale-type model for flocking, where the strength of interaction between two agents depends on their relative separation (called "topological distance" in previous works), which is the number of intermediate…
We introduce a stochastic agent-based model for the flocking dynamics of self-propelled particles that exhibit velocity-alignment interactions with neighbours within their field of view. The stochasticity in the dynamics of the model arises…