Related papers: Dynamic coordinated control laws in multiple agent…

It is recognized that social heterogeneities in terms of the contact distribution have a strong influence on the spread of infectious diseases. Nevertheless, few data are available on the group composition of social contacts, and their…

A flexible operation of multiple robotic manipulators in a shared workspace requires an online trajectory planning with static and dynamic collision avoidance. In this work, we propose a real-time capable motion control algorithm, based on…

We derive a class of macroscopic differential equations that describe collective adaptation, starting from a discrete-time stochastic microscopic model. The behavior of each agent is a dynamic balance between adaptation that locally…

This paper develops a general framework for multi-agent control synthesis, which applies to a wide range of problems with convergence guarantees, including those with time-varying objective functions. The proposed framework achieves…

In this paper, the synchronization of heterogeneous agents interacting over a dynamical network is studied. The edge dynamics can model the inter-agent communications which are often heterogeneous by nature. They can also model the…

In recent years, numerous studies have focused on the mathematical modeling of social dynamics, with self-organization, i.e., the autonomous pattern formation, as the main driving concept. Usually, first or second order models are employed…

To identify a stationary action profile for a population of competitive agents, each executing private strategies, we introduce a novel active-learning scheme where a centralized external observer (or entity) can probe the agents' reactions…

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…

Diverse collective dynamics emerge in dynamical systems interacting on top of complex network architectures. Along this line of research, temporal network has come out to be one of the most promising network platforms to investigate.…

This paper addresses the design of an optimization-based cooperative path-following control law for multiple robotic vehicles that optimally balances the transient trade-off between coordination and path-following errors. To this end, we…

A k-order coverage control problem is studied where a network of agents must deploy over a desired area. The objective is to deploy all the agents in a decentralized manner such that a certain coverage performance metric of the network is…

Swarms of large numbers of agents appear in many biological and engineering fields. Dynamic bi-stability of co-existing spatio-temporal patterns has been observed in many models of large population swarms. However, many reduced models for…

This paper presents a novel control strategy to herd a group of non-cooperative evaders by means of a team of robotic herders. In herding problems, the motion of the evaders is typically determined by strong nonlinear reactive dynamics,…

This paper introduces a continuous-time constrained nonlinear control scheme which implements a model predictive control strategy as a continuous-time dynamic system. The approach is based on the idea that the solution of the optimal…

In this paper we consider the problem of controlling the dynamic behavior of a multi-robot system while interacting with the environment. In particular, we propose a general methodology that, by means of locally scaling inter-robot coupling…

Flocking behavior has attracted considerable attention in multi-agent systems. The structure of flocking has been predominantly studied through the application of artificial potential fields coupled with velocity consensus. These…

We propose a distributed control strategy to allow the control of a multi-agent system requiring k-hop interactions based on the design of distributed state and input observers. In particular, we design for each agent a finite time…

In nature self-organized systems as flock of birds, school of fishes or herd of sheeps have to deal with the presence of external agents such as predators or leaders which modify their internal dynamic. Such situations take into account a…

We propose a bio-inspired, agent-based approach to describe the natural phenomenon of group chasing in both two and three dimensions. Using a set of local interaction rules we created a continuous-space and discrete-time model with time…

In this paper, we present a reinforcement learning approach to designing a control policy for a "leader" agent that herds a swarm of "follower" agents, via repulsive interactions, as quickly as possible to a target probability distribution…