Related papers: Redirecting counter-moving swarms through collisio…
We concentrate on kinetic models for swarming with individuals interacting through self-propelling and friction forces, alignment and noise. We assume that the velocity of each individual relaxes to the mean velocity. In our present case,…
Unraveling the nature of the communication model that governs which two individuals in a swarm interact with each other is an important line of inquiry in the collective behavior sciences. A number of models have been proposed in the…
The fundamental derivation of macroscopic model equations to describe swarms based on microscopic movement laws and mathematical analyses into their self-organisation capabilities remains a challenge from the perspective of both modelling…
Collective behaviours often need to be expressed through numerical features, e.g., for classification or imitation learning. This problem is often addressed by proposing an ad-hoc feature set for a particular swarm behaviour context,…
This study considers the control of parent-child systems where a parent system is acted on by a set of controllable child systems (i.e. a swarm). Examples of such systems include a swarm of robots pushing an object over a surface, a swarm…
Swarm dynamics is the study of collections of agents that interact with one another without central control. In natural systems, insects, birds, fish and other large mammals function in larger units to increase the overall fitness of the…
The main contribution of this paper is a methodology for multiple non-cooperating swarms of unmanned aerial vehicles to independently cover a common area. In contrast to previous research on coverage control involving more than one swarm,…
The coordination of robot swarms - large decentralized teams of robots - generally relies on robust and efficient inter-robot communication. Maintaining communication between robots is particularly challenging in field deployments.…
Interacting individuals in complex systems often give rise to coherent motion exhibiting coordinated global structures. Such phenomena are ubiquitously observed in nature, from cell migration, bacterial swarms, animal and insect groups, and…
Swarm foraging is a common test case application for multi-robot systems. In this paper we present a novel algorithm for controlling swarm robots with limited communication range and storage capacity to efficiently search for and retrieve…
We study the dynamics of interacting agents from two distinct inter-mixed populations: One population includes active agents that follow a predetermined velocity field, while the second population contains exclusively passive agents, i.e.…
This paper introduces a crowd modeling and motion control approach that employs diffusion adaptation within an adaptive network. In the network, nodes collaboratively address specific estimation problems while simultaneously moving as…
Imagine that a swarm of robots is given, these robots must communicate with each other, and they can do so if certain conditions are met. We say that the swarm is connected if there is at least one way to send a message between each pair of…
Collective animal behaviors are paradigmatic examples of fully decentralized operations involving complex collective computations such as collective turns in flocks of birds or collective harvesting by ants. These systems offer a unique…
The emergence of collective decision in swarms and their coordinated response to complex environments underscore the central role played by social transmission of information. Here, the different possible origins of information flow…
In this paper, we use simulated swarms of robots to further explore the aggregation dynamics generated by these simple individual mechanisms. Our objective is to study the introduction of "informed robots", and to study how many of these…
A spacially extended model of the collective behavior of a large number of locally acting organisms is proposed in which organisms move probabilistically between local cells in space, but with weights dependent on local morphogenetic…
Whereas naturally occurring swarms thrive when crowded, physical interactions in robotic swarms are either avoided or carefully controlled, thus limiting their operational density. Here we present a mechanical design rule that allows robots…
We investigate the collective dynamics of self-propelled particles able to probe and anticipate the orientation of their neighbors. We show that a simple anticipation strategy hinders the emergence of homogeneous flocking patterns. Yet,…
There are many well-studied swarming algorithms which are often suited to very specific purposes. As mobile sensor networks become increasingly complex, and are comprised of more and more agents, it makes sense to consider swarming…