相关论文: Improving flocking behaviors in street networks wi…

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…

Safe and efficient crowd navigation for mobile robot is a crucial yet challenging task. Previous work has shown the power of deep reinforcement learning frameworks to train efficient policies. However, their performance deteriorates when…

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…

Background: Recent research in animal behaviour has contributed to determine how alignment, turning responses, and changes of speed mediate flocking and schooling interactions in different animal species. Here, we address specifically the…

Driver assistance systems are increasingly becoming part of the standard equipment of vehicles and thus contribute to road safety. However, as they become more widespread, the requirements for cost efficiency are also increasing, and so few…

By introducing a predictive mechanism with small-world connections, we propose a new motion protocol for self-driven flocks. The small-world connections are implemented by randomly adding long-range interactions from the leader to a few…

This paper introduces a crowd modeling and motion control approach that employs diffusion adaptation within an adaptive network. In the network, nodes collaboratively address specific estimation problems while simultaneously moving as…

Collective behavior in biological systems was first captured by the Vicsek model, in which particles align their velocities in the average direction of neighbors, leading to coherent motion and showing an order-disorder transition. However,…

In human crowds as well as in many animal societies, local interactions among individuals often give rise to self-organized collective organizations that offer functional benefits to the group. For instance, flows of pedestrians moving in…

Deploying a safe mobile robot policy in scenarios with human pedestrians is challenging due to their unpredictable movements. Current Reinforcement Learning-based motion planners rely on a single policy to simulate pedestrian movements and…

This paper presents a novel zone-based flocking control approach suitable for dynamic multi-agent systems (MAS). Inspired by Reynolds behavioral rules for $boids$, flocking behavioral rules with the zones of repulsion, conflict, attraction,…

The study of the movement of flocks, whether biological or technological is motivated by the desire to understand the capability of coherent motion of a large number of agents that only receive very limited information. In a biological…

In this article, we investigate the convergence behavior of two classes of gathering protocols with fixed circulant topologies using tools from dynamical systems. Given a fixed number of mobile entities moving in the Euclidean plane, we…

It is very important to understand urban mobility patterns because most trips are concentrated in urban areas. In the paper, a new model is proposed to model collective human mobility in urban areas. The model can be applied to predict…

We consider the classical problem of making mobile processes gather or converge at a same position (as performed by swarms of animals in Nature). Existing works assume that each process can see all other processes, or all processes within a…

We study the (hydro-)dynamics of multi-species driven by alignment. What distinguishes the different species is the protocol of their interaction with the rest of the crowd: the collective motion is described by different communication…

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…

This work presents a microscopic model to describe pedestrian flows based on the social force theory. The aim of this study is twofold: (1) developing a realistic model that can be used as a tool for designing pedestrian-friendly…

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…

Pedestrians are often encountered walking in the company of some social relations, rather than alone. The social groups thus formed, in variable proportions depending on the context, are not randomly organised but exhibit distinct features,…