Related papers: A Collective Motion Algorithm for Tracking Time-De…
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…
Populations of mobile and communicating agents describe a vast array of technological and natural systems, ranging from sensor networks to animal groups. Here, we investigate how a group-level agreement may emerge in the continuously…
In collective motion, perceptually-limited individuals move in an ordered manner, without centralized control. The perception of each individual is highly localized, as is its ability to interact with others. While natural collective motion…
Active agents can transfer energy to their environment through collective motion, generating accumulation patterns near confining obstacles. Here we investigate how the nature of the microscopic drive-self-propulsion or velocity…
This paper aims to solve the coordination of a team of robots traversing a route in the presence of adversaries with random positions. Our goal is to minimize the overall cost of the team, which is determined by (i) the accumulated risk…
This paper addresses the problem of cooperative manipulation of a single object by N robotic agents under local goal specifications given as Metric Interval Temporal Logic (MITL) formulas. In particular, we propose a distributed model-free…
This paper investigates the problem of consensus tracking control of discrete time multi-agent systems under binary-valued communication. Different from most existing studies on consensus tracking, the transmitted information between agents…
A discrete time quantum walk is known to be the single-particle sector of a quantum cellular automaton. Searching in this mathematical framework has interested the community since a long time. However, most results consider spatial search…
Many computer vision applications involve modeling complex spatio-temporal patterns in high-dimensional motion data. Recently, restricted Boltzmann machines (RBMs) have been widely used to capture and represent spatial patterns in a single…
We study a model of collective search by teams. Discoveries beget discoveries and correlated search results are governed by a Brownian path. Search results' variation at any point -- the search scope -- is jointly controlled. Agents…
A common method for delineating urban and suburban boundaries is to identify clusters of spatial units that are highly interconnected in a network of commuting flows, each cluster signaling a cohesive economic submarket. It is critical that…
This paper introduces a novel bio-mimetic approach for distributed control of robotic swarms, inspired by the collective behaviors of swarms in nature such as schools of fish and flocks of birds. The agents are assumed to have limited…
In this study, we present a simulation-based numerical method for solving a class of singularly perturbed second-order differential equations that come from a simplified biologically motivated model of human gait. Important physical factors…
To plan the trajectories of a large-scale heterogeneous swarm, sequentially or synchronously distributed methods usually become intractable due to the lack of global clock synchronization. To this end, we provide a novel asynchronous…
When individual robots have limited sensing capabilities or insufficient fault tolerance, it becomes necessary for multiple robots to form teams during exploration, thereby increasing the collective observation range and reliability.…
Restrictions to molecular motion by barriers (membranes) are ubiquitous in biological tissues, porous media and composite materials. A major challenge is to characterize the microstructure of a material or an organism nondestructively using…
How do groups of individuals achieve consensus in movement decisions? Do individuals follow their friends, the one predetermined leader, or whomever just happens to be nearby? To address these questions computationally, we formalize…
Coordinating the motion of multiple agents in constrained environments is a fundamental challenge in robotics, motion planning, and scheduling. A motivating example involves $n$ robotic arms, each represented as a line segment. The…
Swarm guidance addresses a challenging problem considering the navigation and control of a group of passive agents. To solve this problem, shepherding offers a bio-inspired technique of navigating such group of agents by using external…
Circular Dyson Brownian motion describes the Brownian dynamics of particles on a circle (periodic boundary conditions), interacting through a logarithmic, long-range two-body potential. Within the log-gas picture of random matrix theory, it…