相关论文: Perception and Steering Control in Paired Bat Flig…
We propose a new model in order to study behaviors of self-organized system such as a group of animals. We assume that the individuals have two degrees of freedom corresponding one to their internal state and the other to their external…
For robots to be a part of our daily life, they need to be able to navigate among crowds not only safely but also in a socially compliant fashion. This is a challenging problem because humans tend to navigate by implicitly cooperating with…
The collective properties of a binary mixture of A- and B-type self-steering particles endowed with visual perception are studied by computer simulations. Active Brownian particles are employed with an additional steering mechanism, which…
We consider a problem of cooperative evasion between a single pursuer and multiple evaders in which the evaders are constrained to move in the positive Y direction. The evaders are slower than the vehicle and can choose their speeds from a…
The intelligent swarm behavior of social insects (such as ants) springs up in different environments, promising to provide insights for the study of embodied intelligence. Researching swarm behavior requires that researchers could…
We study platoon control of vehicles with linear third-order longitudinal dynamics under the constant time headway policy. The controller of each follower vehicle is only based on its own velocity, acceleration, inter-vehicle distance and…
Most car-following models were originally developed for lane-based traffic. Over the past two decades, efforts have been made to calibrate car-following models for non-lane-based traffic. However, traffic conditions with varying vehicle…
Even the simplest of animals exhibit behavioral sequences with complex temporal dynamics. Prominent amongst the proposed organizing principles for these dynamics has been the idea of a hierarchy, wherein the movements an animal makes can be…
An ego vehicle following a virtual lead vehicle planned route is an essential component when autonomous and non-autonomous vehicles interact. Yet, there is a question about the driver's ability to follow the planned lead vehicle route.…
This work addresses the practical problem of distributed formation tracking control of a group of quadrotor vehicles in a relaxed sensing graph topology with a very limited sensor set, where only one leader vehicle can access the global…
Visual intelligence requires anticipating the future behavior of agents, yet vision systems lack a general representation for motion and behavior. We propose dense point trajectories as visual tokens for behavior, a structured mid-level…
1. Understanding how to find targets with very limited information is a topic of interest in many disciplines. In ecology, such research has often focused on the development of two movement models: i) the L\'evy walk and; ii) the composite…
We consider the advection-diffusion transport of tracers in a one-parameter family of plane periodic flows where the patterns of streamlines feature regions of confined circulation in the shape of "cat's eyes", separated by meandering jets…
Despite the fact that grouping behavior has been actively studied for over a century, the relative importance of the numerous proposed fitness benefits of grouping remain unclear. We use a digital model of evolving prey under simulated…
In this work, we explore the correlation between people trajectories and their head orientations. We argue that people trajectory and head pose forecasting can be modelled as a joint problem. Recent approaches on trajectory forecasting…
Leadership plays a key role in social animals, including humans, decision-making and coalescence in coordinated activities such as hunting, migration, sport, diplomatic negotiation etc. In these coordinated activities, leadership is a…
Legged robots leverage ground contacts and the reaction forces they provide to achieve agile locomotion. However, uncertainty coupled with contact discontinuities can lead to failure, especially in real-world environments with unexpected…
Learning visuomotor control policies in robotic systems is a fundamental problem when aiming for long-term behavioral autonomy. Recent supervised-learning-based vision and motion perception systems, however, are often separately built with…
A novel approach for achieving fast evasion in self-localized swarms of Unmanned Aerial Vehicles (UAVs) threatened by an intruding moving object is presented in this paper. Motivated by natural self-organizing systems, the presented…
In this chapter, we discuss the mathematical modeling of egressing pedestrians in an unknown environment with multiple exits. We investigate different control problems to enhance the evacuation time of a crowd of agents, by few informed…