Related papers: Controlling the Swarm: Sparse Actuation and Collis…
A generalization of the Cucker-Smale model for collective animal behaviour is investigated. The model is formulated as a system of delayed stochastic differential equations. It incorporates two additional processes which are present in…
The emergence of collective motion, also known as flocking or swarming, in groups of moving individuals who orient themselves using only information from their neighbors is a very general phenomenon that is manifested at multiple spatial…
This paper proposes two nonlinear dynamics to solve constrained distributed optimization problem for resource allocation over a multi-agent network. In this setup, coupling constraint refers to resource-demand balance which is preserved at…
Particle dynamics and multi-agent systems provide accurate dynamical models for studying and forecasting the behavior of complex interacting systems. They often take the form of a high-dimensional system of differential equations…
The study of robotic flocking has received significant attention in the past twenty years. In this article, we present a constraint-driven control algorithm that minimizes the energy consumption of individual agents and yields an emergent V…
This paper introduces a distributed leaderless swarm formation control framework to address the problem of collectively driving a swarm of robots to track a time-varying formation. The swarm's formation is captured by the trajectory of an…
We present a decentralized control algorithm for a robotic swarm given the task of encapsulating static and moving targets in a bounded unknown environment. We consider minimalist robots without memory, explicit communication, or…
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…
This paper investigates the long time dynamics of interacting particle systems subject to singular interactions. We consider a microscopic system of $N$ interacting point particles, where the time evolution of the joint distribution…
Collaboration between interconnected cyber-physical systems is becoming increasingly pervasive. Time-delays in communication channels between such systems are known to induce catastrophic failure modes, like high frequency oscillations in…
A leader-follower framework is proposed for multi-robot navigation of large scale teams where the leader agents corral the follower agents. A group of leaders is modeled as a 2D deformable object where discrete masses (i.e., leader robots)…
This study proposes a delay-compensated feedback controller based on proximal policy optimization (PPO) reinforcement learning to stabilize traffic flow in the congested regime by manipulating the time-gap of adaptive cruise…
The self-organizing behavior of swarms of inter- acting particles or agents is a topic of intense research in fields extending from biology to physics and robotics. In this paper, we carry out a systematic study of how the stable…
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…
We study the problem of distributed control of large-scale robotic swarms which can be modeled as continuum densities evolving under the continuity equation. We propose a formalization of distributed controllers as (generally nonlinear)…
Controlling large particle systems in collective dynamics by a few agents is a subject of high practical importance, e.g., in evacuation dynamics. In this paper we study an instantaneous control approach to steer an interacting particle…
We introduce a stochastic agent-based model for the flocking dynamics of self-propelled particles that exhibit velocity-alignment interactions with neighbours within their field of view. The stochasticity in the dynamics of the model arises…
This paper proposes a perception-shared and swarm trajectory global optimal (STGO) algorithm fused UAVs formation motion planning framework aided by an active sensing system. First, the point cloud received by each UAV is fit by the…
We introduce a framework to prove propagation of chaos for interacting particle systems with singular, density-dependent interactions, a classical challenge in mean-field theory. Our approach is to define the dynamics implicitly via a…
We extend the analysis developed in [33] in order to prove convergence to consensus results for a Cucker-Smale type model with hierarchical leadership and distributed delay. Flocking estimates are obtained for a general interaction…