相关论文: A Discrete Model of Collective Marching on Rings

We present a minimal model to describe the onset of collective motion seen when a population of locusts are placed in an annular arena. At low densities motion is disordered, while at high densities locusts march in a common direction,…

The cohesive collective motion (flocking, swarming) of autonomous agents is ubiquitously observed and exploited in both natural and man-made settings, thus, minimal models for its description are essential. In a model with continuous space…

Collective motion is an intriguing phenomenon, especially considering that it arises from a set of simple rules governing local interactions between individuals. In theoretical models, these rules are normally \emph{assumed} to take a…

This paper considers the collective circular motion of multi-agent systems in which all the agents are required to traverse different circles or a common circle at a prescribed angular velocity. It is required to achieve these collective…

Computational models of collective behavior in birds has allowed us to infer interaction rules directly from experimental data. Using a generic form of these rules we explore the collective behavior and emergent dynamics of a simulated…

In collective motion, perceptually-limited individuals move in an ordered manner, without centralized control. The perception of each individual is highly localized, as is its ability to interact with others. While natural collective motion…

Random pairwise encounters often occur in large populations, or groups of mobile agents, and various types of local interactions that happen at encounters account for emergent global phenomena. In particular, in the fields of swarm…

The emerging collective motions of swarms of interacting agents are a subject of great interest in application areas ranging from biology to physics and robotics. In this paper, we conduct a careful analysis of the collective dynamics of a…

Populations of mobile and communicating agents describe a vast array of technological and natural systems, ranging from sensor networks to animal groups. Here, we investigate how a group-level agreement may emerge in the continuously…

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,…

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…

We consider discrete dynamical systems of "ant-like" agents engaged in a sequence of pursuits on a graph environment. The agents emerge one by one at equal time intervals from a source vertex $s$ and pursue each other by greedily attempting…

This paper considers a group of mobile autonomous agents moving in Euclidean space with point mass dynamics. We introduce a set of coordination control laws that enable the group to generate the desired stable flocking motion. The control…

In pedestrian dynamics, the internal drive that propels individuals toward their goals is typically captured by a single, fixed parameter, the desired walking speed. This simplification overlooks that motivation fluctuates in response to…

In this paper we are interested in the task of searching and tracking multiple moving targets in a bounded surveillance area with a group of autonomous mobile agents. More specifically, we assume that targets can appear and disappear at…

Theoretical models of populations and swarms typically start with the assumption that the motion of agents is governed by the local stimuli. However, an intelligent agent, with some understanding of the laws that govern its habitat, can…

This paper considers a discrete time swarm model of a group of mobile autonomous agents with a simple attraction and repulsion function for swarm aggregation and investigates its stability properties. In particular, it is proved that the…

The self-organizing behavior of swarms of inter- acting particles or agents is a topic of intense research in fields extending from biology to physics and robotics. In this paper, we carry out a systematic study of how the stable…

Intelligent agents collect and process information from their dynamically evolving neighbourhood to efficiently navigate through it. However, agent-level intelligence does not guarantee that at the level of a collective; a common example is…

Collective migration of animals in a cohesive group is rendered possible by a strategic distribution of tasks among members: some track the travel route, which is time and energy-consuming, while the others follow the group by interacting…