相关论文: Predictive protocol of flocks with small-world con…
We study a minimal cognitive flocking model, which assumes that the moving entities navigate using exclusively the available instantaneous visual information. The model consists of active particles, with no memory, that interact by a…
In this paper, we present an original set of flocking rules using an ecologically-inspired paradigm for control of multi-robot systems. We translate these rules into a constraint-driven optimal control problem where the agents minimize…
Large animal groups -- bird flocks, fish schools, insect swarms -- are often assumed to form by gradual aggregation of sparsely distributed individuals. Using a mathematically precise framework based on time-varying directed interaction…
The paper considers the problem of a leader that seeks to optimally influence the opinions of agents in a directed network through connecting with a limited number of the agents ("direct followers"), possibly in the presence of a fixed…
Classic computational models of collective motion suggest that simple local averaging rules can promote many observed group level patterns. Recent studies, however, suggest that rules simpler than local averaging may be at play in real…
In animal societies as well as in human crowds, many observed collective behaviours result from self-organized processes based on local interactions among individuals. However, models of crowd dynamics are still lacking a systematic…
Collective motion - or flocking - is an emergent phenomena that underlies many biological processes of relevance, from cellular migrations to animal groups movement. In this work, we derive scaling relations for the fluctuations of the mean…
A hallmark in natural systems, self-organization often stems from very simple interaction rules between individual agents. While single-species self-propelled particle (SPP) systems are well understood, the behavior of binary mixtures with…
We discuss a set of computational techniques, called Inductive Game Theory, for extracting strategic decision-making rules from time series data and constructing probabilistic social circuits. We construct these circuits by connecting…
We consider the collective behaviour of active particles that locally align with their neighbours. Agent-based simulation models have previously shown that in one dimension, these particles can form into a flock that maintains its stability…
Motivated by the benefits of small world networks, we propose a self-organization framework for wireless ad hoc networks. We investigate the use of directional beamforming for creating long-range short cuts between nodes. Using simulation…
We study the Cucker-Smale model with a velocity control function. The Cucker-Smale model design the emergence of consensus in terms of flocking. A proposed model encompasses several Cucker-Smale models, such as a speed limit model, a…
The network paradigm is used to gain insight into the structural root causes of the resilience of consensus in dynamic collective behaviors, and to analyze the controllability of the swarm dynamics. Here we devise the dynamic signaling…
We propose a framework that enables autonomous vehicles (AVs) to proactively shape the intentions and behaviors of interacting human drivers. The framework employs a leader-follower game model with an adaptive role mechanism to predict…
We present the first decentralized multi-copter flock that performs stable autonomous outdoor flight with up to 10 flying agents. By decentralized and autonomous we mean that all members navigate themselves based on the dynamic information…
We discuss the collective dynamics of self-propelled particles with selective attraction and repulsion interactions. Each particle, or individual, may respond differently to its neighbors depending on the sign of their relative velocity.…
Leadership and followership are essential parts of collective decision and organization in social animals, including humans. In nature, relationships of leaders and followers are dynamic and vary with context or temporal factors.…
Pedestrian crowds can very realistically be simulated with a social force model which describes the different influences affecting individual pedestrian motion by a few simple force terms. The model is able to reproduce the emergence of…
This work concentrates on different aspects of the \textit{consensus problem}, when applying it to a swarm of flocking agents. We examine the possible influence an external agent, referred to as {\em influencing agent} has on the flock. We…
We study connectivity properties in a probabilistic model for a large mobile ad-hoc network. We consider a large number of participants of the system moving randomly, independently and identically distributed in a large domain, with a…