Related papers: Causal Entropy, Control and Leadership Dynamics
Many organisms in nature use local interactions to generate global cooperative phenomena. To unravel how the behavior of individuals generates effective interactions within a group, we introduce a simple model, wherein each agent senses the…
This paper is concerned with the problem of controlling a system of constrained dynamic subsystems in a way that balances the performance degradation of decentralized control with the practical cost of centralized control. We propose a…
We study the Cucker-Smale model with a velocity control function. The Cucker-Smale model design the emergence of consensus in terms of flocking. A proposed model encompasses several Cucker-Smale models, such as a speed limit model, a…
We theoretically and numerically study the problem of optimal control of large-scale autonomous systems under explicitly adversarial conditions, including probabilistic destruction of agents during the simulation. Large-scale autonomous…
Swarms are self-organized dynamical coupled agents which evolve from simple rules of communication. They are ubiquitous in nature, and be- coming more prominent in defense applications. Here we report on a preliminary study of swarm…
We study the limits of linear modeling of swarm behavior by characterizing the inflection point beyond which linear models of swarm collective behavior break down. The problem we consider is a central place object gathering task. We design…
We study the emergent flocking behavior in a group of Cucker-Smale flocking agents under rooted leadership with alternating leaders. It is well known that the network topology regulates the emergent behaviors of flocks. All existing results…
Animals living in groups make movement decisions that depend, among other factors, on social interactions with other group members. Our present understanding of social rules in animal collectives is mainly based on empirical fits to…
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…
We study the collective motion of autonomous mobile agents on a ringlike environment. The agents' dynamics is inspired by known laboratory experiments on the dynamics of locust swarms. In these experiments, locusts placed at arbitrary…
From the formation of animal flocks to the emergence of coordinate motion in bacterial swarms, at all scales populations of motile organisms display coherent collective motion. This consistent behavior strongly contrasts with the difference…
When individual robots have limited sensing capabilities or insufficient fault tolerance, it becomes necessary for multiple robots to form teams during exploration, thereby increasing the collective observation range and reliability.…
We present a strategy capable of describing basic features of the dynamics of crowds. The behaviour of the crowd is considered from a twofold perspective. We examine both the large scale behaviour of the crowd, and phenomena happening at…
This paper studies a stylized model of local interaction where agents choose from an ever increasing set of vertically ranked actions, e.g. technologies. The driving forces of the model are infrequent upward shifts (``updates''), followed…
Large animal groups -- bird flocks, fish schools, insect swarms -- are often assumed to form by gradual aggregation of sparsely distributed individuals. Using a mathematically precise framework based on time-varying directed interaction…
Controlling large swarms of robotic agents has many challenges including, but not limited to, computational complexity due to the number of agents, uncertainty in the functionality of each agent in the swarm, and uncertainty in the swarm's…
We consider optimal swarm control problems where two different classes of agents are present. Continuum idealizations of large-scale swarms are used where the dynamics describe the evolution of the spatially-distributed densities of each…
This paper presents a revolutionary approach to the characterization, forecast, and control of collective systems. Collective systems are an ensemble of conservatively interacting entities. The evolution of the entities are determined by…
The effectiveness of collective navigation of biological or artificial agents requires to accommodate for contrasting requirements, such as staying in a group while avoiding close encounters and at the same time limiting the energy…
Gathering is a fundamental task for multi-agent systems and the problem has been studied under various assumptions on the sensing capabilities of mobile agents. This paper addresses the problem for a group of agents that are identical and…