Related papers: Optimal flock formation induced by agent heterogen…
The correlated motion of flocks is an instance of global order emerging from local interactions. An essential difference with analogous ferromagnetic systems is that flocks are active: animals move relative to each other, dynamically…
Living in groups brings benefits to many animals, such as a protection against predators and an improved capacity for sensing and making decisions while searching for resources in uncertain environments. A body of studies has shown how…
Group behavior has received much attention as a test case of self-organization. There has been much written in recent years to investigate interactions within groups of agents. These agents can be animals moving in an interactive way, such…
Multi-robot systems performing continuous tasks face a performance trade-off when interrupted by urgent, time-critical sub-tasks. We investigate this trade-off in a scenario where a team must balance area patrolling with locating an…
Collective behaviors such as swarming and flocking emerge from simple, decentralized interactions in biological systems. Existing models, such as Vicsek and Cucker-Smale, lack collision avoidance, whereas the Olfati-Saber model imposes…
Flocking is a paradigmatic example of collective animal behaviour, where decentralized interaction rules give rise to a globally ordered state. In the emergence of order out of self-organization we find similarities between biological…
In this work, we study the inverse problem of identifying complex flocking dynamics in a domain cluttered with obstacles. We get inspiration from animal flocks moving in complex ways with capabilities far beyond what current robots can do.…
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,…
Self-organization is a process where a stable pattern is formed by the cooperative behavior between parts of an initially disordered system without external control or influence. It has been introduced to multi-agent systems as an internal…
The goal of this paper is to study organized flocking behavior and systemic risk in heterogeneous mean-field interacting diffusions. We illustrate in a number of case studies the effect of heterogeneity in the behavior of systemic risk in…
In the context of humans operating with artificial or autonomous agents in a hybrid team, it is essential to accurately identify when to authorize those team members to perform actions. Given past examples where humans and autonomous…
We introduce and analyze a model for the dynamics of flocking and steering of a finite number of agents. In this model, each agent's acceleration consists of flocking and steering components. The flocking component is a generalization of…
Flocking is a behavior where multiple agents in a system attempt to stay close to each other while avoiding collision and maintaining a desired formation. This is observed in the natural world and has applications in robotics, including…
Flocks of birds exhibit a remarkable degree of coordination and collective response. It is not just that thousands of individuals fly, on average, in the same direction and at the same speed, but that even the fluctuations around the mean…
Ecosystems are formed by networks of species and their interactions. Traditional models of such interactions assume a constant interaction strength between a given pair of species. However, there is often significant trait variation among…
Efficient navigation in swarms often relies on the emergence of decentralized approaches that minimize traversal time or energy. Stigmergy, where agents modify a shared environment that then modifies their behavior, is a classic mechanism…
Individual differences in learning behavior within social groups, whether in humans, other animals, or among robots, can have significant effects on collective task performance. This is because it can affect individuals' response to the…
Active swarms, consisting of individual agents which consume energy to move or produce work, are known to generate a diverse range of collective behaviors. Many examples of active swarms are biological in nature (e.g., fish shoals and bird…
The collective motion of interacting self-driven particles describes many types of coordinated dynamics and self-organisation. Prominent examples are alignment or lane formation which can be observed alongside other ordered structures and…
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…