Related papers: An emergence-oriented approach to circular formati…
We propose a minimal model for the emergence of a directed flow in autonomous Hamiltonian systems. It is shown that internal breaking of the spatio-temporal symmetries, via localised initial conditions, that are unbiased with respect to the…
This paper presents decentralized algorithms for formation control of multiple robots in three dimensions. Specifically, we leverage the mathematical properties of cyclic pursuit along with results from contraction and partial contraction…
The growing interest in space activities has led to the emergence of new space operators and innovative mission concepts. Small satellites such as CubeSats reduce mission costs and are typically deployed in constellations or formation…
The question how complex systems become more organized and efficient with time is open. Examples are, the formation of elementary particles from pure energy, the formation of atoms from particles, the formation of stars and galaxies, the…
This paper deals with the impulsive formation control of spacecraft in the presence of constraints on the position vector and time. Determining a set of path constraints can increase the safety and reliability in an impulsive relative…
In this paper we prove a general stability result for higher order geometric flows on the circle, which basically states that if the initial condition is close to a round circle, the curve evolves smoothly and exponentially fast towards a…
In many multi-agent systems of practical interest, such as traffic networks or crowd evacuation, control actions cannot be exerted on all agents. Instead, controllable leaders must indirectly steer uncontrolled followers through local…
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…
Inspired by the swarming or flocking of animal systems we study groups of agents moving in unbounded 2D space. Individual trajectories derive from a ``bottom-up'' principle: individuals reorient to maximise their future path entropy over…
This paper proposes an integrated framework for coordinating multiple unmanned aerial vehicles (UAVs) in a distributed manner to persistently enclose and track a moving target without relying on external localization systems. The proposed…
Understanding how simple local interactions give rise to emergent exploration patterns is a fundamental question in statistical physics. We introduce a minimal model of two coupled agents that avoid retracing their own paths while being…
Recent experimental studies have shown that confinement can profoundly affect self-organization in semi-dilute active suspensions, leading to striking features such as the formation of steady and spontaneous vortices in circular domains and…
We analyze a simplistic model for run-and-tumble dynamics, motivated by observations of complex spatio-temporal patterns in colonies of myxobacteria. In our model, agents run with fixed speed either left or right, and agents turn with a…
We investigate dynamical properties of traffic flow using the stochastic car-following model with modified optimal velocity on circular road. The safety distance following the two-second rule and autonomous vehicles, acting as agents,…
This paper addresses formation control of reduced attitudes in which a continuous control protocol is proposed for achieving and stabilizing all regular polyhedra (also known as Platonic solids) under a unified framework. The protocol…
In this letter, we present a constraint-driven optimal control framework that achieves emergent cluster flocking within a constrained 2D environment. We formulate a decentralized optimal control problem that includes safety, flocking, and…
Effect of internal chirality on collective motion of a large number of active objects is studied by simulations of appropriately modified Vicsek model. We add a fixed angle to the noise and consider small ratios, $p$, between this angle and…
We consider a specific dynamical system of groups formation. It is based simultaneously on a gradient competition between groups and a strong accumulation inside groups. Such a dynamical system demonstrates interesting behavior of densities…
Chaos is widely understood as being a consequence of sensitive dependence upon initial conditions. This is the result of an instability in phase space, which separates trajectories exponentially. Here, we demonstrate that this criterion…
How large ecosystems can create and maintain the remarkable biodiversity we see in nature is probably one of the biggest open questions in science, attracting attention from different fields, from Theoretical Ecology to Mathematics and…