Related papers: Position-Based Flocking for Robust Alignment

This paper presents a novel approach that combines the advantages of both model-based and learning-based frameworks to achieve robust locomotion. The residual modules are integrated with each corresponding part of the model-based framework,…

We present a general, two-stage reinforcement learning approach to create robust policies that can be deployed on real robots without any additional training using a single demonstration generated by trajectory optimization. The…

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…

In this article, we present a distributed source-seeking and flocking control method for networked multi-agent systems with non-holonomic constraints. Based solely on identical on-board sensor systems, which measure the source local field,…

Reinforcement learning algorithms have shown great success in solving different problems ranging from playing video games to robotics. However, they struggle to solve delicate robotic problems, especially those involving contact…

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,…

We study the collective dynamics of a lattice model of stochastically interacting agents with a weighted field of vision. We assume that agents preferentially interact with neighbours, depending on their relative location, through velocity…

In this work we introduce an approach for modeling and analyzing collective behavior of a group of agents using moments. We represent the group of agents via their distribution and derive a method to estimate the dynamics of the moments. We…

Rigid bodies, plastic impact, persistent contact, Coulomb friction, and massless limbs are ubiquitous simplifications introduced to reduce the complexity of mechanics models despite the obvious physical inaccuracies that each incurs…

We construct the hydrodynamic theory of coherent collective motion ("flocking") at a solid-liquid interface. The polar order parameter and concentration of a collection of "active" (self-propelled) particles at a planar interface between a…

Flocking refers to collective behavior of a large number of interacting entities, where the interactions between discrete individuals produce collective motion on the large scale. We employ an agent-based model to describe the microscopic…

This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised through the transformation of a base configuration. The robots…

This paper addresses the problem of distance- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in 3D space, under static and undirected communication topologies. More specifically, we design a…

The vision-based relative localization can provide effective feedback for the cooperation of aerial swarm and has been widely investigated in previous works. However, the limited field of view (FOV) inherently restricts its performance. To…

Exploiting interaction with the environment is a promising and powerful way to enhance stability of humanoid robots and robustness while executing locomotion and manipulation tasks. Recently some works have started to show advances in this…

We consider a compressible Euler system with singular velocity alignment, known as the Euler-alignment system, describing the flocking behaviors of large animal groups. We establish a local well-posedness theory for the system, as well as a…

Following the paradigm set by attraction-repulsion-alignment schemes, a myriad of individual based models have been proposed to calculate the evolution of abstract agents. While the emergent features of many agent systems have been…

Despite cobots have high potential in bringing several benefits in the manufacturing and logistic processes, but their rapid (re-)deployment in changing environments is still limited. To enable fast adaptation to new product demands and to…

Platooning on highways with connected and automated vehicles (CAVs) has attracted considerable attention, while how to mange and coordinate platoons in urban networks remains largely an open question. This scientific gap mainly results from…

We introduce a simple model of self-propelled agents connected by linear springs, with no explicit alignment rules. Below a critical noise level, the agents self-organize into a collectively translating or rotating group. We derive…