相关论文: Collective olfactory search in a turbulent environ…

This work views the multi-agent system and its surrounding environment as a co-evolving system, where the behavior of one affects the other. The goal is to take both agent actions and environment configurations as decision variables, and…

In this work a robust and scalable cooperative multi-agent searching and tracking framework is proposed. Specifically, we study the problem of cooperative searching and tracking of multiple moving targets by a group of autonomous mobile…

The ability to learn from others (social learning) is often deemed a cause of human species success. But if social learning is indeed more efficient (whether less costly or more accurate) than individual learning, it raises the question of…

Adaptive orchestration of heterogeneous agents requires making sequential delegation decisions under uncertain and evolving agent behaviour, e.g., coordinating specialised AI models with varying reliability, cost, and response quality.…

Modeling crowds has many important applications in games and computer animation. Inspired by the emergent following effect in real-life crowd scenarios, in this work, we develop a method for implicitly grouping moving agents. We achieve…

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…

Fish, birds, insects and robots frequently swim or fly in groups. During their 3 dimensional collective motion, these agents do not stop, they avoid collisions by strong short-range repulsion, and achieve group cohesion by weak long-range…

Cooperative transport is a striking phenomenon where multiple agents join forces to transit a payload too heavy for the individual. While social animals such as ants are routinely observed to coordinate transport at scale, reproducing the…

We consider a robotic vehicle tasked with gathering information by visiting a set of spatially-distributed data sources, the locations of which are not known a priori, but are discovered on the fly. We assume a first-order robot dynamics…

This paper addresses an autonomous exploration problem in which a mobile sensor, placed in a previously unseen search area, utilizes an information-theoretic navigation cost function to dynamically select the next sensing action, i.e.,…

Infotaxis is a popular search algorithm designed to track a source of odor in a turbulent environment using information provided by odor detections. To exemplify its capabilities, the source-tracking task was framed as a partially…

Suppose that in a given planar circular region, there are some smart mobile evaders and we would like to find them using sweeping agents. We assume that each agent has a line sensor of length 2r. We propose procedures for designing…

Motivated by the problem of tracking a direction in a decentralized way, we consider the general problem of cooperative learning in multi-agent systems with time-varying connectivity and intermittent measurements. We propose a distributed…

Increasing energy efficiency in buildings can reduce costs and emissions substantially. Historically, this has been treated as a local, or single-agent, optimization problem. However, many buildings utilize the same types of thermal…

We have developed an experimental setup of very simple self-propelled robots to observe collective motion emerging as a result of inelastic collisions only. A circular pool and commercial RC boats were the basis of our first setup, where we…

This paper considers the problem of autonomous multi-agent cooperative target search in an unknown environment using a decentralized framework under a no-communication scenario. The targets are considered as static targets and the agents…

Traffic and pedestrian systems consist of human collectives where agents are intelligent and capable of processing available information, to perform tactical manoeuvres that can potentially increase their movement efficiency. In this study,…

In this demo work we develop a method to plan and coordinate a multi-agent team to gather information on demand. The data is periodically requested by a static Operation Center (OC) from changeable goals locations. The mission of the team…

Motile organisms often use finite spatial perception of their surroundings to navigate and search their habitats. Yet standard models of search are usually based on purely local sensory information. To model how a finite perceptual horizon…

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…