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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…
This paper considers the collective circular motion of multi-agent systems in which all the agents are required to traverse different circles or a common circle at a prescribed angular velocity. It is required to achieve these collective…
Collective migration of animals in a cohesive group is rendered possible by a strategic distribution of tasks among members: some track the travel route, which is time and energy-consuming, while the others follow the group by interacting…
We investigate the emergence of cohesive flocking in open, boundless space using a multi-agent reinforcement learning framework. Agents integrate positional and orientational information from their closest topological neighbours and learn…
We show in this paper that a small subset of agents of a formation of n agents in Euclidean space can control the position and orientation of the entire formation. We consider here formations tasked with maintaining inter-agent distances at…
Currently, the general aim of flocking and formation control laws for multi-agent systems is to form and maintain a rigid configuration, such as, the alpha-lattices in flocking control methods, where the desired distance between each pair…
This paper presents a position-based flocking model for interacting agents, balancing cohesion-separation and alignment to achieve stable collective motion. The model modifies a position-velocity-based approach by approximating velocity…
In this paper, we consider a multi-agent system consisting of mobile agents with second-order dynamics. The communication network is determined by the so-called topological interaction rule: agents interact with a fixed number of their…
A one-dimensional rule-based model for flocking, that combines velocity alignment and long-range centering interactions, is presented and studied. The induced cohesion in the collective motion of the self-propelled agents leads to a unique…
This paper investigates control laws allowing mobile, autonomous agents to optimally position themselves on the line for distributed sensing in a nonuniform field. We show that a simple static control law, based only on local measurements…
The cohesive collective motion (flocking, swarming) of autonomous agents is ubiquitously observed and exploited in both natural and man-made settings, thus, minimal models for its description are essential. In a model with continuous space…
UAV collective motion has become a hot research topic in recent years. The realization of UAV collective motion, however, relied heavily on centralized control method and suffered from instability. Inspired by bird flocking theory, a…
This report surveys results on distributed systems comprising mobile agents that are identical and anonymous, oblivious and interact solely by adjusting their motion according to the relative location of their neighbours. The agents are…
In this paper, we consider the consensus problem of dynamical multiple agents that communicate via a directed moving neighborhood random network. Each agent performs random walk on a weighted directed network. Agents interact with each…
Over the past few decades, the research community has been interested in the study of multi-agent systems and their emerging collective dynamics. These systems are all around us in nature, like bacterial colonies, fish schools, bird flocks,…
We present an active control scheme of a kinetic model of swarming. It has been shown previously that the global control scheme for the model, presented in \cite{JK04}, gives rise to spontaneous collective organization of agents into a…
In this article, we present a distributed source-seeking and flocking control method for networked multi-agent systems with non-holonomic constraints. Based solely on identical on-board sensor systems, which measure the source local field,…
Robots sometimes have to work together with a mixture of partially-aligned or conflicting goals. Flocking - coordinated motion through cohesion, alignment, and separation - traditionally assumes uniform desired inter-agent distances. Many…
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…
Coordinated collective motion in bird flocks and fish schools inspires algorithms for cohesive swarm robotics. This paper presents a position-based flocking model that achieves persistent velocity alignment without velocity sensing. By…