相关论文: Invisible control of self-organizing agents leavin…

We study the shepherding control problem where a group of "herders" need to orchestrate their collective behaviour in order to steer the dynamics of a group of "target" agents towards a desired goal. We relax the strong assumptions of…

This paper concerns optimal control of a nonconvex perturbed sweeping process and its applications to optimization of the planar crowd motion model of traffic equilibria. The obtained theoretical results allow us to investigate a dynamic…

We explore the probabilistic foundations of shared control in complex dynamic environments. In order to do this, we formulate shared control as a random process and describe the joint distribution that governs its behavior. For…

We propose an entropic geometrical model of crowd behavior dynamics (with dissipative crowd kinematics), using Feynman action--amplitude formalism that operates on three synergetic levels: macro, meso and micro. The intent is to explain the…

We present an unsupervised approach to analyze crowd at various levels of granularity $-$ individual, group and collective. We also propose a motion model to represent the collective motion of the crowd. The model captures the…

Stochastic particle--based models are useful tools for describing the collective movement of large crowds of pedestrians in crowded confined environments. Using descriptions based on the simple exclusion process, two populations of…

Flocking behavior of multiple agents can be widely observed in nature such as schooling fish and flocking birds. Recent literature has proposed the possibility that flocking is possible even only a small fraction of agents are informed of…

We introduce a model for self-organized dynamics which, we argue, addresses several drawbacks of the celebrated Cucker-Smale (C-S) model. The proposed model does not only take into account the distance between agents, but instead, the…

This chapter focuses on the mathematical modelling of active particles (or agents) in crowded environments. We discuss several microscopic models found in literature and the derivation of the respective macroscopic partial differential…

This paper deals with the kinetic theory modeling of crowd dynamics with the aim of showing how the dynamics at the micro-scale is transferred to the dynamics of collective behaviors. The derivation of a new model is followed by a…

We focus on robot navigation in crowded environments. To navigate safely and efficiently within crowds, robots need models for crowd motion prediction. Building such models is hard due to the high dimensionality of multiagent domains and…

Quantifying uncertainties in collective human behavior and decision making is crucial for ensuring public health and safety, enabling effective disaster response, informing the design of transportation and communication networks, and…

In this work a physical modelling framework is presented, describing the intelligent, non-local, and anisotropic behaviour of pedestrians. Its phenomenological basics and constitutive elements are detailed, and a qualitative analysis is…

Understanding the mechanisms underlying the emergence of leadership in multi-agent systems is still under investigation in many areas of research where group coordination is involved. While leadership has been mostly investigated in the…

In this work, we design distributed control laws for spatial self-organization of multi-agent swarms in 1D and 2D spatial domains. The objective is to achieve a desired density distribution over a simply-connected spatial domain. Since…

We study multi-agent coverage algorithms for autonomous monitoring and patrol in urban environments. We consider scenarios in which a team of flying agents uses downward facing cameras (or similar sensors) to observe the environment outside…

We theoretically and numerically study the problem of optimal control of large-scale autonomous systems under explicitly adversarial conditions, including probabilistic destruction of agents during the simulation. Large-scale autonomous…

We introduce a stochastic agent-based model for the flocking dynamics of self-propelled particles that exhibit velocity-alignment interactions with neighbours within their field of view. The stochasticity in the dynamics of the model arises…

A standard belief on emerging collective behavior is that it emerges from simple individual rules. Most of the mathematical research on such collective behavior starts from imperative individual rules, like always go to the center. But how…

This paper mainly focuses on solving the dynamic optimization of the planar controlled crowd motion models with obstacles which is an application of a class of optimal control problems governed by a general perturbed nonconvex sweeping…