Related papers: Learning to flock in open space by avoiding collis…
The goal of the present work is to propose an agent-based model that originally combines classical Vicsek-like polarity alignments and contact forces, as implemented in the framework developed by Maury and Venel in [Maury, Venel, 2011]. The…
In this paper, we consider a multi-agent system consisting of mobile agents with second-order dynamics. The communication network is determined by the so-called topological interaction rule: agents interact with a fixed number of their…
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…
We study the multi-scale description of large-time collective behavior of agents driven by alignment. The resulting multi-flock dynamics arises naturally with realistic initial configurations consisting of multiple spatial scaling, which in…
Classic computational models of collective motion suggest that simple local averaging rules can promote many observed group level patterns. Recent studies, however, suggest that rules simpler than local averaging may be at play in real…
We consider flocking of self-propelling agents in two dimensions, each of which communicates with its neighbors within a limited vision cone. Also, the communication occurs with some delay. The communication among the agents are modeled by…
Flocking behavior has attracted considerable attention in multi-agent systems. The structure of flocking has been predominantly studied through the application of artificial potential fields coupled with velocity consensus. These…
In this paper, we consider multiple mobile agents moving in Euclidean space with point mass dynamics. Using a coordination control scheme, we can make the group generate stable flocking motion. The control laws are a combination of…
In nature, flocking or swarm behavior is observed in many species as it has beneficial properties like reducing the probability of being caught by a predator. In this paper, we propose SELFish (Swarm Emergent Learning Fish), an approach…
Asymmetric obstacles can be exploited to direct the motion and induce sorting of run-and-tumbling particles. In this work, we show that flocking particles which follow the Vicsek model aligning rules experience a collective trapping in the…
Coordinated collective motion in bird flocks and fish schools inspires algorithms for cohesive swarm robotics. This paper presents a position-based flocking model that achieves persistent velocity alignment without velocity sensing. By…
We present a general framework for modeling a wide selection of flocking scenarios under free boundary conditions. Several variants have been considered - including examples for the widely observed behavior of hierarchically interacting…
In recent years, many efforts have been addressed on collision avoidance of collectively moving agents. In this paper, we propose a modified version of the Vicsek model with adaptive speed, which can guarantee the absence of collisions.…
We introduce a multi-agent model for exploring how selection of neighbours determines some aspects of order and cohesion in swarms. The model algorithm states that every agents' motion seeks for an optimal distance from the nearest…
Flocking is a fascinating phenomenon observed across a wide range of living organisms. We investigate, based on a simple self-propelled particle model, how the emergence of ordered motion in a collectively moving group is influenced by the…
Collective motion is an intriguing phenomenon, especially considering that it arises from a set of simple rules governing local interactions between individuals. In theoretical models, these rules are normally \emph{assumed} to take a…
Fish, birds, insects and robots frequently swim or fly in groups. During their 3 dimensional collective motion, these agents do not stop, they avoid collisions by strong short-range repulsion, and achieve group cohesion by weak long-range…
Collective behavior in biological systems was first captured by the Vicsek model, in which particles align their velocities in the average direction of neighbors, leading to coherent motion and showing an order-disorder transition. However,…
This paper develops a game-theoretic model and an agent-based model to study group formation driven by resource pooling, spatial cohesion, and heterogeneity. We focus on cross-sector partnerships (CSPs) involving public, private, and…
The flocking motion control is concerned with managing the possible conflicts between local and team objectives of multi-agent systems. The overall control process guides the agents while monitoring the flock-cohesiveness and localization.…