Related papers: Position-Based Flocking for Persistent Alignment w…

In this paper we consider interacting particle systems which are frequently used to model collective behavior in animal swarms and other applications. We study the stability of orientationally aligned formations called flock solutions, one…

In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…

Swarming behavior, where coherent motion emerges from the interactions of many mobile agents, is ubiquitous in physics and biology. Moreover, there are many efforts to replicate swarming dynamics in mobile robotic systems which take…

Tracking Lagrangian coherent structures in dynamical systems is important for many applications such as oceanography and weather prediction. In this paper, we present a collaborative robotic control strategy designed to track stable and…

Collective human movement is a hallmark of complex systems, exhibiting emergent order across diverse settings, from pedestrian flows to biological collectives. In high-speed scenarios, alignment interactions ensure efficient flow and…

We consider the problem of understanding the coordinated movements of biological or artificial swarms. In this regard, we propose a learning scheme to estimate the coordination laws of the interacting agents from observations of the swarm's…

Swarm robots have sparked remarkable developments across a range of fields. While it is necessary for various applications in swarm robots, a fast and robust coordinate initialization in vision-based drone swarms remains elusive. To this…

We consider a swarm of mobile robots evolving in a bidimensional Euclidean space. We study a variant of the crash-tolerant gathering problem: if no robot crashes, robots have to meet at the same arbitrary location, not known beforehand, in…

Flocking is ubiquitous in nature and emerges due to short- or long-range alignment interactions among self-propelled agents. Two unfriendly species that antialign or even interact nonreciprocally show more complex collective phenomena,…

Understanding collective pedestrian movement is crucial for applications in crowd management, autonomous navigation, and human-robot interaction. This paper investigates the use of sequential deep learning models, including Recurrent Neural…

We consider the collective behaviour of active particles that locally align with their neighbours. Agent-based simulation models have previously shown that in one dimension, these particles can form into a flock that maintains its stability…

Driver assistance systems are increasingly becoming part of the standard equipment of vehicles and thus contribute to road safety. However, as they become more widespread, the requirements for cost efficiency are also increasing, and so few…

We improve a flocking model on street networks introduced in a previous paper. We expand the field of vision of walkers, making the model more realistic. Under such conditions, we obtain groups of walkers whose gathering times and…

A Collision-Avoiding flocking particle system proposed in [8] is studied in this paper. The global wellposedness of its corresponding Vlasov-type kinetic equation is proved. As a corollary of the global stability result, the mean field…

We propose a new approach to visual perception for relative localization of agents within large-scale swarms of UAVs. Inspired by biological perception utilized by schools of sardines, swarms of bees, and other large groups of animals…

Cooperative transport is a striking phenomenon where multiple agents join forces to transit a payload too heavy for the individual. While social animals such as ants are routinely observed to coordinate transport at scale, reproducing the…

We review the observations and the basic laws describing the essential aspects of collective motion -- being one of the most common and spectacular manifestation of coordinated behavior. Our aim is to provide a balanced discussion of the…

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…

A standard belief on emerging collective behavior is that it emerges from simple individual rules. Most of the mathematical research on such collective behavior starts from imperative individual rules, like always go to the center. But how…

We consider flocks of artificial birds and study the emergence of V-like formations during flight. We introduce a small set of fully distributed positioning rules to guide the birds' movements and demonstrate, by means of simulations, that…