相关论文: Coordination of Multiple Dynamic Agents with Asymm…
We introduce a model for self-organized dynamics which, we argue, addresses several drawbacks of the celebrated Cucker-Smale (C-S) model. The proposed model does not only take into account the distance between agents, but instead, the…
This study proposes a distributed algorithm that makes agents' adaptive grouping entrap multiple targets via automatic decision making, smooth flocking, and well-distributed entrapping. Agents make their own decisions about which targets to…
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…
The paper addresses the synchronization of multi-agent systems with continuous-time dynamics interacting through a very general class of monotonic continuous signal functions that covers estimation biases, approximation of discrete…
This paper investigates the fixed-time consensus problem for a class of multi-agent systems with simple dynamics. Unlike the traditional way to realize fixed-time convergence, a novel strategy using the property of periodic functions is…
This paper studies the problem of multi-agent cooperative localization of a common reference coordinate frame in $\mathbb{R}^3$. Each agent in a system maintains a body-fixed coordinate frame and its actual \textit{frame transformation}…
We study a minimal cognitive flocking model, which assumes that the moving entities navigate using exclusively the available instantaneous visual information. The model consists of active particles, with no memory, that interact by a…
We consider flocking of self-propelling agents in two dimensions, each of which communicates with its neighbors within a limited vision cone. Also, the communication occurs with some delay. The communication among the agents are modeled by…
We review the observations and the basic laws describing the essential aspects of collective motion -- being one of the most common and spectacular manifestation of coordinated behavior. Our aim is to provide a balanced discussion of the…
This paper studies a mean field game inspired by crowd motion in which agents evolve in a compact domain and want to reach its boundary minimizing the sum of their travel time and a given boundary cost. Interactions between agents occur…
Flocking is a behavior where multiple agents in a system attempt to stay close to each other while avoiding collision and maintaining a desired formation. This is observed in the natural world and has applications in robotics, including…
This paper considers the problem of steering a vast group of agents of which the dynamics are governed by a discrete-time first-order linear system. The group of agents are characterized as a probability density function and an occupation…
We study the general formation problem for a group of mobile agents in a plane, in which the agents are required to maintain a distribution pattern, as well as to rotate around or remain static relative to a static/moving target. The…
We introduce and study a nonlinear discrete dynamical system describing the evolution of a resource distribution among interacting agents. The model generalizes several classical mean-field and opinion-dynamics frameworks and is defined on…
We propose a second-order multi-agent system for target tracking on a sphere. The model contains a centripetal force, a bonding force, a velocity alignment operator to the target, and cooperative control between flocking agents. We propose…
A group behavior of a heterogeneous multi-agent system is studied which obeys an "average of individual vector fields" under strong couplings among the agents. Under stability of the averaged dynamics (not asking stability of individual…
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…
Populations of self-propelled mobile agents - animal groups, robot swarms or crowds of people - that exchange information with their surrounding, host fascinating cooperative behaviors. While in many situations of interest the agents motion…
This paper presents a novel control protocol for robust distance-based formation control with prescribed performance in which agents are subjected to unknown external disturbances. Connectivity maintenance and collision avoidance among…
We propose a new approach for crowd motion models where the density constraint can only slow down the motion of each agent, with no effect on those agents who are not in a saturated area or who have no saturated density ''in front'' of…