Related papers: Coordination of Multiple Dynamic Agents with Asymm…
In this paper, the recent developments on distributed coordination control, especially the consensus and formation control, are summarized with the graph theory playing a central role, in order to present a cohesive overview of the…
Spatial multi-agency has been receiving growing attention from researchers exploring many of the aspects and modalities of this phenomenon. The aim is to develop the theoretical background needed for a multitude of applications involving…
This paper addresses the leader-follower flocking problem with a moving leader for networked Lagrange systems with parametric uncertainties under a proximity graph. Here a group of followers move cohesively with the moving leader to…
We introduce a system of self-propelled agents (active Brownian particles) with velocity alignment in two spatial dimensions and derive a mean-field theory from the microscopic dynamics via a nonlinear Fokker-Planck equation and a moment…
Recently, Jadbabaie, Lin, and Morse (IEEE TAC, 48(6)2003:988-1001) offered a mathematical analysis of the discrete time model of groups of mobile autonomous agents raised by Vicsek et al. in 1995. In their paper, Jadbabaie et al. showed…
We propose a novel scheme for surveillance of a dynamic ground convoy moving along a non-linear trajectory, by aerial agents that maintain a uniformly spaced formation on a time-varying elliptical orbit encompassing the convoy. Elliptical…
We study the long-time hydrodynamic behavior of systems of multi-species which arise from agent-based description of alignment dynamics. The interaction between species is governed by an array of symmetric communication kernels. We prove…
From the formation of animal flocks to the emergence of coordinate motion in bacterial swarms, at all scales populations of motile organisms display coherent collective motion. This consistent behavior strongly contrasts with the difference…
This paper presents a method for future motion prediction of multi-agent systems by including group formation information and future intent. Formation of groups depends on a physics-based clustering method that follows the agglomerative…
This paper addresses the problem of navigation control of a general class of 2nd order uncertain nonlinear multi-agent systems in a bounded workspace, which is a subset of $R^3$ , with static obstacles. In particular, we propose a…
In this work, we study an optimal control problem for a multi-agent system modeled by an undirected formation graph with nodes describing the kinematics of each agent, given by a left-invariant control system on a Lie group. The agents…
In this paper, we propose a distance-based formation control strategy that can enable four mobile agents, which are modelled by a group of single-integrators, to achieve the desired formation shape specified by using six consistent…
We introduce a simple model of self-propelled agents connected by linear springs, with no explicit alignment rules. Below a critical noise level, the agents self-organize into a collectively translating or rotating group. We derive…
This paper presents a robust distributed coordination protocol that achieves generation of collision-free trajectories for multiple unicycle agents in the presence of stochastic uncertainties. We build upon our earlier work on…
The aim of this article is to investigate the convergence properties of a heterogeneous consensus model on Stiefel manifolds. We consider each agent, without interaction, moving according to the flow determined by the fundamental vector…
Flocking is a coordinated collective behavior that results from local sensing between individual agents that have a tendency to orient towards each other. Flocking is common among animal groups and might also be useful in robotic swarms. In…
We study the collective behavior in a stochastic agent-based model of active matter. Provided a critical take-up of energy, agents produce two types of goods $x$, $y$ that follow a generalized Lotka-Volterra dynamics. For isolated agents,…
Recent advances in multiagent simulations have made possible the study of realistic traffic patterns and allow to test theories based on driver behaviour. Such simulations also display various empirical features of traffic flows, and are…
Many day-to-day activities involve people working collaboratively toward reaching a desired outcome. Previous research in motor control and neuroscience have proposed inter-personal motor synergy (IPMS) as a mechanism of collaboration…
Non-uniform scaling control of formation enables multi-agent systems to adjust their shape by scaling with different ratios along different coordinate axes, offering enhanced flexibility in complex environments. However, like most existing…