Related papers: Agree to Disagree: Consensus-Free Flocking under C…

Populations of mobile and communicating agents describe a vast array of technological and natural systems, ranging from sensor networks to animal groups. Here, we investigate how a group-level agreement may emerge in the continuously…

The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…

Swarm robotic systems utilize collective behaviour to achieve goals that might be too complex for a lone entity, but become attainable with localized communication and collective decision making. In this paper, a behaviour-based distributed…

This paper considers a group of mobile autonomous agents moving in Euclidean space with point mass dynamics. We introduce a set of coordination control laws that enable the group to generate the desired stable flocking motion. The control…

The study of robotic flocking has received considerable attention in the past twenty years. As we begin to deploy flocking control algorithms on physical multi-agent and swarm systems, there is an increasing necessity for rigorous promises…

Formation control with the flocking approach is an efficient method that can reach the formation without determining the agent's position. This paper focuses on reaching the circular formation around the leader or target with a specific…

This letter studies the problem of cooperative nearest-neighbor control of multi-agent systems where each agent can only realize a finite set of control points. Under the assumption that the underlying graph representing the communication…

Here we consider the communications tactics appropriate for a group of agents that need to "swarm" together in a highly adversarial environment. Specfically, whilst they need to cooperate by exchanging information with each other about…

Letting robots emulate human behavior has always posed a challenge, particularly in scenarios involving multiple robots. In this paper, we presented a framework aimed at achieving multi-agent reinforcement learning for robot control in…

In this paper we address the consensus problem in the context of networked agents whose communication graph can be split into a certain number of clusters in such a way that interactions between agents in the same clusters are cooperative,…

Cooperative systems are systems in which the forces among agents are non-repulsive. The free evolution of such systems can tend to the formation of patterns, such as consensus or clustering, depending on the properties and intensity of the…

This study proposes a distributed algorithm that makes agents' adaptive grouping entrap multiple targets via automatic decision making, smooth flocking, and well-distributed entrapping. Agents make their own decisions about which targets to…

Privacy is an important facet of defence against adversaries. In this letter, we introduce the problem of private flocking. We consider a team of mobile robots flocking in the presence of an adversary, who is able to observe all robots'…

Multi-agent systems driven by large language models (LLMs) have shown promising abilities for solving complex tasks in a collaborative manner. This work considers a fundamental problem in multi-agent collaboration: consensus seeking. When…

Collective motion in animal groups provide examples of emergent, decentralised coordination. Here, we examine a bottom-up model of collective behavior based on Future State Maximisation (FSM). In this model agents seek to maximise the…

Recent empirical observations of three-dimensional bird flocks and human crowds have challenged the long-prevailing assumption that a metric interaction distance rules swarming behaviors. In some cases, individual agents are found to be…

In its simplest form the well known consensus problem for a networked family of autonomous agents is to devise a set of protocols or update rules, one for each agent, which can enable all of the agents to adjust or tune their "agreement…

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…

Multi-robot systems are increasingly being used for critical applications such as rescuing injured people, delivering food and medicines, and monitoring key areas. These applications usually involve navigating at high speeds through…

It is an amazing fact that remarkably complex behaviors could emerge from a large collection of very rudimentary dynamical agents through very simple local interactions. However, it still remains elusive on how to design these local…