相关论文: Broadcast Guidance of Agents in Deviated Linear Cy…

This report studies the emergent behavior of systems of agents performing cyclic pursuit controlled by an external broadcast signal detected by a random set of the agents. Two types of cyclic pursuit are analyzed: 1)linear cyclic pursuit,…

In this paper, we study the emergence of circular formation for agents in cyclic pursuit. Each agent is a unicycle traveling at a fixed common forward speed. We first establish a necessary and sufficient condition for the existence of…

We study a distributed coordination mechanism for uniform agents located on a circle. The agents perform their actions in synchronised rounds. At the beginning of each round an agent chooses the direction of its movement from clockwise,…

This article investigates the pedestrian group as an emergent agent. The article explores empirical data to derive emergent agency and formation state spaces and outline recurring patterns of walking behavior. In this analysis, pedestrian…

We present a model for controlling swarms of mobile agents via broadcast control, assumed to be detected by a random set of agents in the swarm. The agents that detect the control signal become ad-hoc leaders of the swarm. The agents are…

This paper investigates a planar tracking problem between a leader and follower agent. We propose a novel feedback speed control law, paired with a constant bearing steering strategy, to maintain an abreast formation between the two agents.…

Gathering is a fundamental task for multi-agent systems and the problem has been studied under various assumptions on the sensing capabilities of mobile agents. This paper addresses the problem for a group of agents that are identical and…

In this paper, we address the problem of circumnavigation of a stationary target by a heterogeneous group comprising of $\textbf{n}$ autonomous agents, having unicycle kinematics. The agents are assumed to have constant linear speeds, we…

This paper is concerned with a leader-follower problem for a multi-agent system with a switching interconnection topology. Distributed observers are designed for the second-order follower-agents, under the common assumption that the…

We consider leader-follower multi-agent systems in which the leader executes the desired trajectory and the followers implement the consensus algorithm subject to stochastic disturbances. The performance of the leader-follower systems is…

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…

This letter proposes two finite-time bearing-based control laws for acyclic leader-follower formations. The leaders in formation move with a bounded continuous reference velocity and each follower controls its position with regard to three…

This paper investigates control laws allowing mobile, autonomous agents to optimally position themselves on the line for distributed sensing in a nonuniform field. We show that a simple static control law, based only on local measurements…

This paper investigates a modification of cyclic constant bearing (CB) pursuit in a multi-agent system in which each agent pays attention to a neighbor and a beacon. The problem admits shape equilibria with collective circling about the…

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…

Emergent communication has made strides towards learning communication from scratch, but has focused primarily on protocols that resemble human language. In nature, multi-agent cooperation gives rise to a wide range of communication that…

Broadcast control is one of decentralized control methods for networked multi-agent systems. In this method, each agent does not communicate with the others, and autonomously determines its own action using only the same signal sent from a…

Previous research into agent communication has shown that a pre-trained guide can speed up the learning process of an imitation learning agent. The guide achieves this by providing the agent with discrete messages in an emerged language…

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 paper, we study the leader-following consensus problem for a class of uncertain nonlinear multi-agent systems under jointly connected directed switching networks. The uncertainty includes constant unbounded parameters and external…