相关论文: Controlling swarms towards flocks and mills

Utilizing a paradigmatic model for the motion of interacting self-propelled particles, we demonstrate that local accelerations at the level of individual particles can drive transitions between different collective dynamics, leading to a…

This paper focuses on coordinating a robot swarm orbiting a convex path without collisions among the individuals. The individual robots lack braking capabilities and can only adjust their courses while maintaining their constant but…

In this paper, we study the behavior of systems of individuals in confined environments that are driven by laws of self-organization. We propose that, under certain conditions, the long-term behavior of such systems will be global…

Swarms are highly robust systems that offer unique benefits compared to their alternatives. In this work, we propose a bio-inspired and artificial potential field-driven robot swarm control method, where the swarm formation dynamics are…

We present a new stochastic particle system on networks which describes the flocking behavior and pattern formation. More precisely, we consider Cucker-Smale particles with decentralized formation control and multiplicative noises on…

We present a hierarchical model predictive control approach for large-scale systems based on dual decomposition. The proposed scheme allows coupling in both dynamics and constraints between the subsystems and generates a primal feasible…

In this paper a new framework has been applied to the design of controllers which encompasses nonlinearity, hysteresis and arbitrary density functions of forward models and inverse controllers. Using mixture density networks, the…

We propose a decentralized control algorithm for a minimalistic robotic swarm with limited capabilities such that the desired global behavior emerges. We consider the problem of searching for and encapsulating various targets present in the…

This study presents a sampling-based method to guarantee robust stability of general control systems with uncertainty. The method allows the system dynamics and controllers to be represented by various data-driven models, such as Gaussian…

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…

In this paper we provide a set of stability conditions for linear time-invariant networked control systems with arbitrary topology, using a Lyapunov direct approach. We then use these stability conditions to provide a novel low-complexity…

Controlled Lagrangian and matching techniques are developed for the stabilization of relative equilibria and equilibria of discrete mechanical systems with symmetry as well as broken symmetry. Interesting new phenomena arise in the…

A hallmark of biological intelligence and control is combinatorial generalization: animals are able to learn various things, then piece them together in new combinations to produce appropriate outputs for new tasks. Inspired by the ability…

We present a general framework for modeling a wide selection of flocking scenarios under free boundary conditions. Several variants have been considered - including examples for the widely observed behavior of hierarchically interacting…

Constraint propagation algorithms implement logical inference. For efficiency, it is essential to control whether and in what order basic inference steps are taken. We provide a high-level framework that clearly differentiates between…

Consider a flock of birds that fly interacting between them. The interactions are modelled through a hierarchical system in which each bird, at each time step, adjusts its own velocity according to his past velocity and a weighted mean of…

The paper analyzes a Lagrangian system which is controlled by directly assigning some of the coordinates as functions of time, by means of frictionless constraints. In a natural system of coordinates, the equations of motions contain terms…

In the present paper we deal with an optimal control problem related to a model in population dynamics; more precisely, the goal is to modify the behavior of a given density of individuals via another population of agents interacting with…

This paper addresses the problems of stabilization, robust control, and observer design for nonlinear systems. We build upon recently a proposed method based on contraction theory and convex optimization, extending the class of systems to…

We investigate the collective dynamics of self-propelled particles able to probe and anticipate the orientation of their neighbors. We show that a simple anticipation strategy hinders the emergence of homogeneous flocking patterns. Yet,…