Related papers: A Collective Motion Algorithm for Tracking Time-De…
Trajectory prediction is critical for applications of planning safe future movements and remains challenging even for the next few seconds in urban mixed traffic. How an agent moves is affected by the various behaviors of its neighboring…
This letter presents two bearing-constrained formation tracking control protocols for multiple nonholonomic agents based respectively on the bearing vectors and displacements between the agents. The desired formation pattern of the system…
In this paper, we propose SwarmNet -- a neural network architecture that can learn to predict and imitate the behavior of an observed swarm of agents in a centralized manner. Tested on artificially generated swarm motion data, the network…
Distributed optimization advances centralized machine learning methods by enabling parallel and decentralized learning processes over a network of computing nodes. This work provides an accelerated consensus-based distributed algorithm for…
This paper proposes a decentralized approach for solving the problem of moving a swarm of agents into a desired formation. We propose a decentralized assignment algorithm which prescribes goals to each agent using only local information.…
This article addresses the problem of multi-object tracking by using a non-deterministic model of target behaviors with hard constraints. To capture the evolution of target features as well as their locations, we permit objects to lie in a…
Time perception - how humans and animals perceive the passage of time - forms the basis for important cognitive skills such as decision-making, planning, and communication. In this work, we propose a framework for examining the mechanisms…
An important goal for swarming research is to create methods for predicting, controlling and designing swarms, which produce collective dynamics that solve a problem through emergent and stable pattern formation, without the need for…
We present a novel computational method of first-passage times between a starting site and a target site of regular bounded lattices. We derive accurate expressions for all the moments of this first-passage time, validated by numerical…
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…
Building a distributed spatial awareness within a swarm of locally sensing and communicating robots enables new swarm algorithms. We use local observations by robots of each other and Gaussian Belief Propagation message passing combined…
We present an effective dynamic clustering algorithm for the task of temporal human action segmentation, which has comprehensive applications such as robotics, motion analysis, and patient monitoring. Our proposed algorithm is unsupervised,…
Decentralized swarm robotic solutions to searching for targets that emit a spatially varying signal promise task parallelism, time efficiency, and fault tolerance. It is, however, challenging for swarm algorithms to offer scalability and…
In this paper, we consider a first-order deterministic mean field game model inspired by crowd motion in which agents moving in a given domain aim to reach a given target set in minimal time. To model interaction between agents, we assume…
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…
We study a space-time Brownian motion with drift B(t)=(t_0+t,y_0+W(t)+t) killed at the moving boundary of the cone {(t,x):0<x<t}. This article determines the parabolic Martin boundary and all harmonic functions associated with this process.…
Recently, the navigation of mobile robots in unknown environments has become a particularly significant research topic. Previous studies have primarily employed real-time environmental mapping using cameras and LiDAR, along with…
We propose time-domain boundary integral and coupled boundary integral and variational formulations for acoustic scattering by linearly elastic obstacles. Well posedness along with stability and error bounds with explicit time dependence…
We present a task-centered formal analysis of the relative power of several robot designs, inspired by the unique properties and constraints of micro-scale robotic systems. Our task of interest is object manipulation because it is a…
A discrete time quantum walk is known to be the single-particle sector of a quantum cellular automaton. For a long time, these models have interested the community for their nice properties such as locality or translation invariance. This…