相关论文: V-like formations in flocks of artificial birds

Flocks of birds and schools of fish are familiar examples of spatial patterns formed by living organisms. In contrast to the patterns on the skins of, say, zebra and giraffe, the patterns of our interest are {\it transient} although…

This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised through the transformation of a base configuration. The robots…

Coherent vortical motion has been reported in a wide variety of populations including living organisms (bacteria, fishes, human crowds) and synthetic active matter (shaken grains, mixtures of biopolymers), yet a unified description of the…

Thermal soaring saves much energy, but flying large distances in this form represents a great challenge for birds, people and Unmanned Aerial Vehicles (UAVs). The solution is to make use of so-called thermals, which are localized, warmer…

We study inherently chiral self-propelled particles, self-rotating at a fixed frequency, in two dimensions, subjected to nematic alignment interactions and rotational noise. By means of both, homogeneous and spatially resolved mean field…

We numerically examine a bidisperse system of active and passive particles coupled to a resource substrate. The active particles deplete the resource at a fixed rate and move toward regions with higher resources, while all of the particles…

In this paper, we review recent and ongoing work by our group on numerical simulations of relativistic jets. Relativistic outflows in Astrophysics are related to dilute, high energy plasmas, with physical conditions out of the reach of…

In swarms of flying insects, the motions of individuals are largely uncoordinated with those of their neighbors, unlike the highly ordered motion of bird flocks. However, it has been observed that insects may transiently form pairs with…

Collective motion inspired by animal groups offers powerful design principles for autonomous aerial swarms. We present a bio-inspired 3D flocking algorithm in which each drone interacts only with a minimal set of influential neighbors,…

We study collective dynamics of interacting deformable self-propelled particles whose migration velocity increases when the local density of particles is increased. Numerical simulations in two dimensions reveal that traveling bands similar…

The spontaneous emergence of collective motion patterns is usually associated with the presence of a velocity alignment mechanism that mediates the interactions among the moving individuals. Despite of this widespread view, it has been…

Boids, developed by Craig W. Reynolds in 1986, is one of the earliest emergent models where the global pattern emerges from the interaction between many individuals within the local scale. In the original model, Boids follow three rules:…

This paper presents experiments for embedded cooperative distributed model predictive control applied to a team of hovercraft floating on an air hockey table. The hovercraft collectively solve a centralized optimal control problem in each…

The implementation of collective motion, traditionally, disregard the limited sensing capabilities of an individual, to instead assuming an omniscient perception of the environment. This study implements a visual flocking model in a…

A recently introduced active phase field crystal model describes the formation of ordered resting and traveling crystals in systems of self-propelled particles. Increasing the active drive, a resting crystal can be forced to perform…

This paper proposes an integrated framework for coordinating multiple unmanned aerial vehicles (UAVs) in a distributed manner to persistently enclose and track a moving target without relying on external localization systems. The proposed…

Controlling UAV flights precisely requires a realistic dynamic model and accurate state estimates from onboard sensors like UAV, GPS and visual observations. Obtaining a precise dynamic model is extremely difficult, as important aerodynamic…

This paper presents a data-driven approach to learning vision-based collective behavior from a simple flocking algorithm. We simulate a swarm of quadrotor drones and formulate the controller as a regression problem in which we generate 3D…

We consider a specific dynamical system of groups formation. It is based simultaneously on a gradient competition between groups and a strong accumulation inside groups. Such a dynamical system demonstrates interesting behavior of densities…

It is promising but challenging to design flocking control for a robot swarm to autonomously follow changing patterns or shapes in a optimal distributed manner. The optimal flocking control with dynamic pattern formation is, therefore,…